ros-noetic-mcl-3dl (0.6.1-1buster) buster; urgency=high

  * Update assets to v0.4.1 (#400 <https://github.com/at-wat/mcl_3dl/issues/400>)
  * Support PCL 1.11 and later (#397 <https://github.com/at-wat/mcl_3dl/issues/397>)
  * Update assets to v0.4.0 (#395 <https://github.com/at-wat/mcl_3dl/issues/395>)
  * Update assets to v0.3.4 (#392 <https://github.com/at-wat/mcl_3dl/issues/392>)
  * Remove old workarounds for PCL<1.8 (#389 <https://github.com/at-wat/mcl_3dl/issues/389>)
  * Update assets to v0.3.3 (#388 <https://github.com/at-wat/mcl_3dl/issues/388>)
  * Update assets to v0.3.2 (#387 <https://github.com/at-wat/mcl_3dl/issues/387>)
  * Update code format (#386 <https://github.com/at-wat/mcl_3dl/issues/386>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Wed, 04 Jan 2023 00:00:00 -0000

ros-noetic-mcl-3dl (0.6.0-1buster) buster; urgency=high

  * Add option to load cloud through "load_pcd" service (#381 <https://github.com/at-wat/mcl_3dl/issues/381>)
  * Update assets to v0.3.1 (#382 <https://github.com/at-wat/mcl_3dl/issues/382>)
  * Update assets to v0.3.0 (#380 <https://github.com/at-wat/mcl_3dl/issues/380>)
  * Update assets to v0.2.0 (#379 <https://github.com/at-wat/mcl_3dl/issues/379>)
  * Contributors: Atsushi Watanabe, Remco

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Wed, 12 May 2021 00:00:00 -0000

ros-noetic-mcl-3dl (0.5.4-1buster) buster; urgency=high

  * Add odom/imu/cloud_queue_size params (#375 <https://github.com/at-wat/mcl_3dl/issues/375>)
  * Fix flaky tests (#376 <https://github.com/at-wat/mcl_3dl/issues/376>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Sun, 07 Mar 2021 00:00:00 -0000

ros-noetic-mcl-3dl (0.5.3-1buster) buster; urgency=high

  * Fix cloud accum reset on map update (#371 <https://github.com/at-wat/mcl_3dl/issues/371>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Fri, 26 Feb 2021 00:00:00 -0000

ros-noetic-mcl-3dl (0.5.2-1buster) buster; urgency=high

  * Fix potential "Time is out of dual 32-bit range" error (#367 <https://github.com/at-wat/mcl_3dl/issues/367>)
  * Update assets to v0.1.4 (#365 <https://github.com/at-wat/mcl_3dl/issues/365>)
  * Improve test stability (#363 <https://github.com/at-wat/mcl_3dl/issues/363>)
  * Update assets to v0.1.3 (#362 <https://github.com/at-wat/mcl_3dl/issues/362>)
  * Update assets to v0.1.2 (#361 <https://github.com/at-wat/mcl_3dl/issues/361>)
  * Migrate to GitHub Actions (#357 <https://github.com/at-wat/mcl_3dl/issues/357>)
  * Update assets to v0.0.10 (#356 <https://github.com/at-wat/mcl_3dl/issues/356>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Fri, 15 Jan 2021 00:00:00 -0000

ros-noetic-mcl-3dl (0.5.1-1buster) buster; urgency=high

  * Make hit_range independent from grid size and fix DDA hit/miss state (#350 <https://github.com/at-wat/mcl_3dl/issues/350>)
  * Fix crushing when lidar poses are out of map (#351 <https://github.com/at-wat/mcl_3dl/issues/351>)
  * Contributors: Atsushi Watanabe, Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 26 Oct 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.5.0-1buster) buster; urgency=high

  * Fix crushing when new map is received (#347 <https://github.com/at-wat/mcl_3dl/issues/347>)
  * Ease condition for test of PointCloudSamplerWithNormal (#344 <https://github.com/at-wat/mcl_3dl/issues/344>)
  * Add faster raycast algorithm using DDA (#343 <https://github.com/at-wat/mcl_3dl/issues/343>)
  * Contributors: Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Thu, 15 Oct 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.4.0-1buster) buster; urgency=high

  * Fix typos of license (#340 <https://github.com/at-wat/mcl_3dl/issues/340>)
  * Add PointCloudSamplerWithNormal (#339 <https://github.com/at-wat/mcl_3dl/issues/339>)
  * Contributors: Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Wed, 07 Oct 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.3.0-1buster) buster; urgency=high

  * Switch beam model by map label field (#334 <https://github.com/at-wat/mcl_3dl/issues/334>)
  * Update test script for latest catkin (#333 <https://github.com/at-wat/mcl_3dl/issues/333>)
  * Remove references to sensor_msgs::PointCloud (#332 <https://github.com/at-wat/mcl_3dl/issues/332>)
  * Update assets to v0.0.9 (#331 <https://github.com/at-wat/mcl_3dl/issues/331>)
  * Improve expansion resetting/global localization test stability (#330 <https://github.com/at-wat/mcl_3dl/issues/330>)
  * Fix global localization test parameter (#328 <https://github.com/at-wat/mcl_3dl/issues/328>)
  * Avoid rate limit when fetching gh-ph-comment (#329 <https://github.com/at-wat/mcl_3dl/issues/329>)
  * Update gh-pr-comment (#327 <https://github.com/at-wat/mcl_3dl/issues/327>)
  * Retry codecov script download (#326 <https://github.com/at-wat/mcl_3dl/issues/326>)
  * Improve test coverage (#325 <https://github.com/at-wat/mcl_3dl/issues/325>)
  * Merge rostest coverage profiles (#324 <https://github.com/at-wat/mcl_3dl/issues/324>)
  * Contributors: Atsushi Watanabe, f-fl0

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 07 Sep 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.5-1buster) buster; urgency=high

  * Add validation for orientation of initial pose (#317 <https://github.com/at-wat/mcl_3dl/issues/317>)
  * Update CI scripts (#318 <https://github.com/at-wat/mcl_3dl/issues/318>)
  * Contributors: Atsushi Watanabe, Yuta Koga

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Wed, 27 May 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.4-1buster) buster; urgency=high

  * Fix resampling failure of last particle (#313 <https://github.com/at-wat/mcl_3dl/issues/313>)
  * Retry gpg keyserver on prerelease test (#312 <https://github.com/at-wat/mcl_3dl/issues/312>)
  * Add filter class for Vec3 (#311 <https://github.com/at-wat/mcl_3dl/issues/311>)
  * Refactor math functions (#310 <https://github.com/at-wat/mcl_3dl/issues/310>)
  * Fix deprecation warning (#309 <https://github.com/at-wat/mcl_3dl/issues/309>)
  * Split parameter loader code (#307 <https://github.com/at-wat/mcl_3dl/issues/307>)
  * Contributors: Atsushi Watanabe, Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Fri, 08 May 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.3-1buster) buster; urgency=high

  * Update assets to v0.0.8 (#303 <https://github.com/at-wat/mcl_3dl/issues/303>)
  * Fix flaky rostest nodes (#302 <https://github.com/at-wat/mcl_3dl/issues/302>)
  * Update E2E test parameters (#301 <https://github.com/at-wat/mcl_3dl/issues/301>)
  * Refactor CI scripts (#300 <https://github.com/at-wat/mcl_3dl/issues/300>)
  * Add Noetic CI job (#296 <https://github.com/at-wat/mcl_3dl/issues/296>)
  * Fix initialization of accumulated cloud header (#299 <https://github.com/at-wat/mcl_3dl/issues/299>)
  * Support Noetic (#297 <https://github.com/at-wat/mcl_3dl/issues/297>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Tue, 07 Apr 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.2-1buster) buster; urgency=high

  * Make average number of accumulated clouds accurate (#293 <https://github.com/at-wat/mcl_3dl/issues/293>)
  * Fix latching flag in demo bag (#294 <https://github.com/at-wat/mcl_3dl/issues/294>)
  * Fix cloud accumulation logic (#290 <https://github.com/at-wat/mcl_3dl/issues/290>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 30 Mar 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.1-1buster) buster; urgency=high

  * Set DiagnosticStatus::OK as default (#283 <https://github.com/at-wat/mcl_3dl/issues/283>)
  * Update assets to v0.0.7 (#282 <https://github.com/at-wat/mcl_3dl/issues/282>)
  * Contributors: Atsushi Watanabe, Daiki Maekawa

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 03 Feb 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.2.0-1buster) buster; urgency=high

  * Install consistent version of ros_buildfarm (#281 <https://github.com/at-wat/mcl_3dl/issues/281>)
  * Run prerelease test with latest msgs package (#278 <https://github.com/at-wat/mcl_3dl/issues/278>)
  * Expose internal errors and convergence status (#265 <https://github.com/at-wat/mcl_3dl/issues/265>)
  * Document motion prediction model parameters (#277 <https://github.com/at-wat/mcl_3dl/issues/277>)
  * Contributors: Atsushi Watanabe, Daiki Maekawa

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Sat, 18 Jan 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.7-1buster) buster; urgency=high

  * Update assets to v0.0.6 (#273 <https://github.com/at-wat/mcl_3dl/issues/273>)
  * Update assets to v0.0.5 (#272 <https://github.com/at-wat/mcl_3dl/issues/272>)
  * Add catkin/bloom release actions (#269 <https://github.com/at-wat/mcl_3dl/issues/269>)
  * Fix codecov setting (#270 <https://github.com/at-wat/mcl_3dl/issues/270>)
  * Fix codecov config (#268 <https://github.com/at-wat/mcl_3dl/issues/268>)
  * Migrate C math functions to C++ (#267 <https://github.com/at-wat/mcl_3dl/issues/267>)
  * Enable particle initialization using covariances (#259 <https://github.com/at-wat/mcl_3dl/issues/259>)
  * Contributors: Atsushi Watanabe, Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 06 Jan 2020 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.6-1buster) buster; urgency=high

  * Clear odometry integration error on global localization (#257 <https://github.com/at-wat/mcl_3dl/issues/257>)
  * Accelerate CI and prerelease test (#254 <https://github.com/at-wat/mcl_3dl/issues/254>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 21 Oct 2019 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.5-1buster) buster; urgency=high

  * Split prerelease test job to avoid CI time-limit (#251 <https://github.com/at-wat/mcl_3dl/issues/251>)
  * Speed-up covariance calculation during global localization (#248 <https://github.com/at-wat/mcl_3dl/issues/248>)
  * Run prerelease test on release preparation PR (#246 <https://github.com/at-wat/mcl_3dl/issues/246>)
  * Add a test for landmark measurement (#242 <https://github.com/at-wat/mcl_3dl/issues/242>)
  * Add test case for expansion resetting service (#241 <https://github.com/at-wat/mcl_3dl/issues/241>)
  * Test matched/unmatched debug outputs (#240 <https://github.com/at-wat/mcl_3dl/issues/240>)
  * Add basic tests for State6DOF class (#239 <https://github.com/at-wat/mcl_3dl/issues/239>)
  * Fix demo configuration and update README (#238 <https://github.com/at-wat/mcl_3dl/issues/238>)
  * Add no-imu and no-odometry modes (#234 <https://github.com/at-wat/mcl_3dl/issues/234>)
  * Add test case for obsolated compatibility mode (#237 <https://github.com/at-wat/mcl_3dl/issues/237>)
  * Fix document file permission (#236 <https://github.com/at-wat/mcl_3dl/issues/236>)
  * Add test for compatibility level check (#235 <https://github.com/at-wat/mcl_3dl/issues/235>)
  * Fix ParticleFilter::resample() (#233 <https://github.com/at-wat/mcl_3dl/issues/233>)
  * Drop ROS Indigo and Ubuntu Trusty support (#230 <https://github.com/at-wat/mcl_3dl/issues/230>)
  * Disable CI build for indigo (#229 <https://github.com/at-wat/mcl_3dl/issues/229>)
  * Refactor motion prediction models (#227 <https://github.com/at-wat/mcl_3dl/issues/227>)
  * Refactor IMU measurement models (#226 <https://github.com/at-wat/mcl_3dl/issues/226>)
  * Fix include directory priority (#225 <https://github.com/at-wat/mcl_3dl/issues/225>)
  * Custom point type (#206 <https://github.com/at-wat/mcl_3dl/issues/206>)
  * Fix transform object constness (#224 <https://github.com/at-wat/mcl_3dl/issues/224>)
  * Add LICENSE file (#220 <https://github.com/at-wat/mcl_3dl/issues/220>)
  * Add post-release test script (#218 <https://github.com/at-wat/mcl_3dl/issues/218>)
  * Reduce memcpy in point cloud transform (#216 <https://github.com/at-wat/mcl_3dl/issues/216>)
  * Contributors: Atsushi Watanabe, Naotaka Hatao

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Thu, 15 Aug 2019 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.4-1buster) buster; urgency=high

  * Fix IO figure (#212 <https://github.com/at-wat/mcl_3dl/issues/212>)
  * Fix tf timestamp (#214 <https://github.com/at-wat/mcl_3dl/issues/214>)
  * Add pf::ParticleFilter::appendParticle (#207 <https://github.com/at-wat/mcl_3dl/issues/207>)
  * Fix pointer alignment style (#210 <https://github.com/at-wat/mcl_3dl/issues/210>)
  * Migrate tf to tf2 (#208 <https://github.com/at-wat/mcl_3dl/issues/208>)
  * Fix class member naming style (#205 <https://github.com/at-wat/mcl_3dl/issues/205>)
  * Make lidar measurement model class (#195 <https://github.com/at-wat/mcl_3dl/issues/195>)
  * Add I/O diagram to the document (#199 <https://github.com/at-wat/mcl_3dl/issues/199>)
  * Update Algorithms.md (#198 <https://github.com/at-wat/mcl_3dl/issues/198>)
  * Add apt-get upgrade to test Dockerfiles (#197 <https://github.com/at-wat/mcl_3dl/issues/197>)
  * Add document for expansion resetting (#193 <https://github.com/at-wat/mcl_3dl/issues/193>)
  * Add test for expansion resetting (#192 <https://github.com/at-wat/mcl_3dl/issues/192>)
  * Add test for global localization (#188 <https://github.com/at-wat/mcl_3dl/issues/188>)
  * Refactor likelihood calculation (#189 <https://github.com/at-wat/mcl_3dl/issues/189>)
  * Add a comment to test_transform_failure (#184 <https://github.com/at-wat/mcl_3dl/issues/184>)
  * Build mcl_3dl_msgs from source on CI (#185 <https://github.com/at-wat/mcl_3dl/issues/185>)
  * Fix resampling (#183 <https://github.com/at-wat/mcl_3dl/issues/183>)
  * Fix test failure on ROS buildfarm (#181 <https://github.com/at-wat/mcl_3dl/issues/181>)
  * Fix catkin package definitions (#180 <https://github.com/at-wat/mcl_3dl/issues/180>)
  * Add tf exception handling and change message level (#177 <https://github.com/at-wat/mcl_3dl/issues/177>)
  * Relax codecov patch threshold (#179 <https://github.com/at-wat/mcl_3dl/issues/179>)
  * Allow small coverage drop (#178 <https://github.com/at-wat/mcl_3dl/issues/178>)
  * Fix test names (#176 <https://github.com/at-wat/mcl_3dl/issues/176>)
  * Add build id to CI bot comment (#174 <https://github.com/at-wat/mcl_3dl/issues/174>)
  * Fold CI bot comment (#173 <https://github.com/at-wat/mcl_3dl/issues/173>)
  * Decrease bag playback rate in integration test (#172 <https://github.com/at-wat/mcl_3dl/issues/172>)
  * Add test for NormalLikelihoodNd (#171 <https://github.com/at-wat/mcl_3dl/issues/171>)
  * Report coverage only after successful test (#170 <https://github.com/at-wat/mcl_3dl/issues/170>)
  * Add CI badges (#169 <https://github.com/at-wat/mcl_3dl/issues/169>)
  * Add codecov covarage test (#168 <https://github.com/at-wat/mcl_3dl/issues/168>)
  * Fix bot comment target slug (#167 <https://github.com/at-wat/mcl_3dl/issues/167>)
  * Contributors: Atsushi Watanabe, So Jomura

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Thu, 20 Dec 2018 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.3-1buster) buster; urgency=high

  * Fix install of demo launch and config (#164 <https://github.com/at-wat/mcl_3dl/issues/164>)
  * Update CI and add test on ROS Melodic (#155 <https://github.com/at-wat/mcl_3dl/issues/155>)
  * Ignore gh-pr-comment failure (#162 <https://github.com/at-wat/mcl_3dl/issues/162>)
  * Compile with PCL_NO_PRECOMPILE (#161 <https://github.com/at-wat/mcl_3dl/issues/161>)
  * Fix rostest dependency (#160 <https://github.com/at-wat/mcl_3dl/issues/160>)
  * Fix roslint dependency (#159 <https://github.com/at-wat/mcl_3dl/issues/159>)
  * Update install instructions in README (#158 <https://github.com/at-wat/mcl_3dl/issues/158>)
  * Update manifest format and fix CMakeLists (#157 <https://github.com/at-wat/mcl_3dl/issues/157>)
  * Use mcl_3dl_msgs package (#152 <https://github.com/at-wat/mcl_3dl/issues/152>)
  * Test with shadow-fixed repository (#154 <https://github.com/at-wat/mcl_3dl/issues/154>)
  * Update CI bot environments (#150 <https://github.com/at-wat/mcl_3dl/issues/150>)
  * Add encrypted token for image caching (#149 <https://github.com/at-wat/mcl_3dl/issues/149>)
  * Fix migration instruction message (#147 <https://github.com/at-wat/mcl_3dl/issues/147>)
  * Fix match ratio min/max check (#146 <https://github.com/at-wat/mcl_3dl/issues/146>)
  * Add interfaces to ChunkedKdtree for external usages (#145 <https://github.com/at-wat/mcl_3dl/issues/145>)
  * Install headers (#143 <https://github.com/at-wat/mcl_3dl/issues/143>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Sat, 23 Jun 2018 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.2-1buster) buster; urgency=high

  * Workaround for debian stretch build (#140 <https://github.com/at-wat/mcl_3dl/issues/140>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Fri, 27 Apr 2018 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.1-1buster) buster; urgency=high

  * Update CI settings (#136 <https://github.com/at-wat/mcl_3dl/issues/136>)
  * Remove CMake warning message (#134 <https://github.com/at-wat/mcl_3dl/issues/134>)
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Wed, 25 Apr 2018 00:00:00 -0000

ros-noetic-mcl-3dl (0.1.0-1buster) buster; urgency=high

  * Migrate to ROS recommended namespace model (#130 <https://github.com/at-wat/mcl_3dl/issues/130>)
  * Minor CI setting updates (#129 <https://github.com/at-wat/mcl_3dl/issues/129>)
  * Fix package deps (#127 <https://github.com/at-wat/mcl_3dl/issues/127>)
  * Fix dockerfile style (#125 <https://github.com/at-wat/mcl_3dl/issues/125>)
  * Load CI cache from docker hub registry (#124 <https://github.com/at-wat/mcl_3dl/issues/124>)
    
      * also add build matrix
    
  * Add raycast performance benchmark (#123 <https://github.com/at-wat/mcl_3dl/issues/123>)
  * Fix GLOBAL_LOCALIZATION status (#122 <https://github.com/at-wat/mcl_3dl/issues/122>)
  * Add localization status output (#120 <https://github.com/at-wat/mcl_3dl/issues/120>)
  * Fix nodehandle usage (#121 <https://github.com/at-wat/mcl_3dl/issues/121>)
  * Update demo without odometry (#119 <https://github.com/at-wat/mcl_3dl/issues/119>)
    
      * Update demo without odometry
      * Update README
      * Add document of the demo without odometry
    
  * Move sample parameters in launch into yamls (#72 <https://github.com/at-wat/mcl_3dl/issues/72>)
  * Fix time jump back (#117 <https://github.com/at-wat/mcl_3dl/issues/117>)
    
      * Fix time jump back
      * Add warning of time jump
      * Fix tf error check
    
  * Add unit tests for Raycast (#116 <https://github.com/at-wat/mcl_3dl/issues/116>)
    
      * Add unit tests for Raycast
      * Fix raycast grid handling
    
  * Chunked kd-tree (#113 <https://github.com/at-wat/mcl_3dl/issues/113>)
    
      * Add chunked kd-tree to remove map truncation
      * Remove unused params
      * Remove unused debug output
      * Add unit test for ChunkedKdtree
    
  * Update test reference checksum (#114 <https://github.com/at-wat/mcl_3dl/issues/114>)
  * Fix raycast collision tolerance (#112 <https://github.com/at-wat/mcl_3dl/issues/112>)
    
      * Tolerance of the end of the raycast was too small in 1a758c0 because of the increase of the search range.
    
  * Add integral angular odometry error constraint (#111 <https://github.com/at-wat/mcl_3dl/issues/111>)
  * Fix raycast (#110 <https://github.com/at-wat/mcl_3dl/issues/110>)
    
      * Hit was checked by using range search with (grid/2.0) which make a lot of miss detection. (sqrt(2.0) * grid / 2.0) should be good approximation.
    
  * Add rule based expansion resetting (#109 <https://github.com/at-wat/mcl_3dl/issues/109>)
  * Fix integral odom error debug output (#108 <https://github.com/at-wat/mcl_3dl/issues/108>)
  * Add landmark measurement input (#107 <https://github.com/at-wat/mcl_3dl/issues/107>)
  * Fix map update timer (#105 <https://github.com/at-wat/mcl_3dl/issues/105>)
  * Fix CI bot (#104 <https://github.com/at-wat/mcl_3dl/issues/104>)
    
      * Fix repository url
      * Use pip version of the bot
    
  * Remove spinOnce polling and waitForTransform (#102 <https://github.com/at-wat/mcl_3dl/issues/102>)
    
      * Use ros::Timer instead of ros::spinOnce polling
      * Remove waitForTransform for static transforms
      * Remove waitForTransform for buffered (delayed) objects
    
  * Fix particle initialization (#101 <https://github.com/at-wat/mcl_3dl/issues/101>)
  * Reset integral odometry error if jumped (#100 <https://github.com/at-wat/mcl_3dl/issues/100>)
  * Add constraint on the integral of odometry error (#99 <https://github.com/at-wat/mcl_3dl/issues/99>)
    
      * odom_err_integ_tc: time constant to hold the integral of the odometry error
      * odom_err_integ_sigma: acceptable range of the integral of the odometry error
    
  * Visualize sampled points and raycasting result (#97 <https://github.com/at-wat/mcl_3dl/issues/97>)
    
      * Visualize sampled points and raycasting result
      * Remove duplicated code around raycasting
    
  * Fix raycasting accuracy (#96 <https://github.com/at-wat/mcl_3dl/issues/96>)
  * Fix odometry noise function in prediction (#95 <https://github.com/at-wat/mcl_3dl/issues/95>)
  * Add global localization (#91 <https://github.com/at-wat/mcl_3dl/issues/91>)
  * Fix particle resize (#92 <https://github.com/at-wat/mcl_3dl/issues/92>)
    
      * same fix as #90 <https://github.com/at-wat/mcl_3dl/issues/90>
    
  * Fix resampling for huge particle size (#90 <https://github.com/at-wat/mcl_3dl/issues/90>)
    
      * All-zero particles have appeared on resampling if the particle size is very large.
      * Also, add iterator.
    
  * Add test for pf::ParticleFilter. (#89 <https://github.com/at-wat/mcl_3dl/issues/89>)
  * Build test with -Wall -Werror. (#88 <https://github.com/at-wat/mcl_3dl/issues/88>)
    
      * Build test with -Wall -Werror.
      * Workaround for invalid macro name bug in PCL(<1.8.1).
    
  * Fix odometry noise function. (#87 <https://github.com/at-wat/mcl_3dl/issues/87>)
    
      * wrong: nd(mean = 1.0, sigma = sigma_trans_trans) * nd(mean = 1.0, sigma = sigma_rot_trans)
      * corrected: nd(mean = 0.0, sigma = sigma_trans_trans) + nd(mean = 0.0, sigma = sigma_rot_trans)
    
  * Skip random points sampling if all points are filtered out. (#86 <https://github.com/at-wat/mcl_3dl/issues/86>)
  * Fix build on indigo. (#84 <https://github.com/at-wat/mcl_3dl/issues/84>)
  * Add map_clip_far param. (#85 <https://github.com/at-wat/mcl_3dl/issues/85>)
  * Support variable particle size. (#78 <https://github.com/at-wat/mcl_3dl/issues/78>)
    
      * Support variable particle size.
      * Add service to change particle size.
      * Add test for resizeParticle.
    
  * Check input cloud size. (#82 <https://github.com/at-wat/mcl_3dl/issues/82>)
    
      * Check for empty cloud to avoid failure on kdtree build.
      * Fix usage of point size of pcl::PointCloud.
    
  * Remove debug outputs. (#81 <https://github.com/at-wat/mcl_3dl/issues/81>)
  * Use online version of test result comment bot. (#80 <https://github.com/at-wat/mcl_3dl/issues/80>)
  * Fix const function attributes. (#77 <https://github.com/at-wat/mcl_3dl/issues/77>)
  * Remove dummy dep to system_lib. (#76 <https://github.com/at-wat/mcl_3dl/issues/76>)
  * Add unit tests for mathematical classes. (#74 <https://github.com/at-wat/mcl_3dl/issues/74>)
    
      * Add unit tests for Vec3, Quat, NormalLikelihood, Filter classes.
      * Fix scaling of the NormalLikelihood distribution.
      * Fix Filter::set in angle mode.
    
  * Fix naming styles. (#73 <https://github.com/at-wat/mcl_3dl/issues/73>)
    
      * Names of the classes and their members now get compatible with ROS recommended coding styles.
      * Public member variables are kept without underscore postfix.
    
  * Fix package install. (#71 <https://github.com/at-wat/mcl_3dl/issues/71>)
  * Fix assert of sampled point amount check. (#70 <https://github.com/at-wat/mcl_3dl/issues/70>)
  * Fix quaternion average and use expectation as estimation result. (#67 <https://github.com/at-wat/mcl_3dl/issues/67>)
  * Fix bot's test result posting on fail. (#68 <https://github.com/at-wat/mcl_3dl/issues/68>)
  * Include test result on bot post. (#66 <https://github.com/at-wat/mcl_3dl/issues/66>)
  * Fix a bug where all particle probabilities get zero. (#65 <https://github.com/at-wat/mcl_3dl/issues/65>)
    
      * fix number of selected points for likelihood calculation
      * add error recovering / asserts
    
  * fixes coding styles (#64 <https://github.com/at-wat/mcl_3dl/issues/64>)
  * adds parameter to accumulate input clouds (#60 <https://github.com/at-wat/mcl_3dl/issues/60>)
  * syncs tf timestamp with last odometry (#61 <https://github.com/at-wat/mcl_3dl/issues/61>)
  * adds example without odometry (#57 <https://github.com/at-wat/mcl_3dl/issues/57>)
  * updates default params and demo (#55 <https://github.com/at-wat/mcl_3dl/issues/55>)
  * adds option to disable tf publish and test for tf output (#46 <https://github.com/at-wat/mcl_3dl/issues/46>)
  * adds test result notifier bot (#53 <https://github.com/at-wat/mcl_3dl/issues/53>)
  * fixes possibly invalid memory access (#52 <https://github.com/at-wat/mcl_3dl/issues/52>)
  * changes docker storage driver to overlay2 (#51 <https://github.com/at-wat/mcl_3dl/issues/51>)
  * adds pcd file output of all pointcloud (#50 <https://github.com/at-wat/mcl_3dl/issues/50>)
  * limits minimum beam_model likelihood (#49 <https://github.com/at-wat/mcl_3dl/issues/49>)
  * separates point ranges of beam model and fixes total ref reduction (#48 <https://github.com/at-wat/mcl_3dl/issues/48>)
  * makes acc measurement variance configurable (#47 <https://github.com/at-wat/mcl_3dl/issues/47>)
  * fixes published tf timestamps to have a future date (#45 <https://github.com/at-wat/mcl_3dl/issues/45>)
  * fixes docker caching on travis (#43 <https://github.com/at-wat/mcl_3dl/issues/43>)
  * updates default parameters (#42 <https://github.com/at-wat/mcl_3dl/issues/42>)
  * adds debug visualization output of casted ray (#41 <https://github.com/at-wat/mcl_3dl/issues/41>)
  * fixes total reflection reduction (#40 <https://github.com/at-wat/mcl_3dl/issues/40>)
  * rejects total reflection points in beam_model (#37 <https://github.com/at-wat/mcl_3dl/issues/37>)
  * fixes test result handling and playback rate (#38 <https://github.com/at-wat/mcl_3dl/issues/38>)
  * ignores travis run on non-master branch (#36 <https://github.com/at-wat/mcl_3dl/issues/36>)
  * caches test dataset outside of docker (#34 <https://github.com/at-wat/mcl_3dl/issues/34>)
    
      * caches test dataset outside docker
      * changes script path
    
  * adds travis settings for a test in docker container (#33 <https://github.com/at-wat/mcl_3dl/issues/33>)
  * adds localization accuracy test (#32 <https://github.com/at-wat/mcl_3dl/issues/32>)
  * makes beam_model likelihood configurable (#30 <https://github.com/at-wat/mcl_3dl/issues/30>)
  * removes ad-hoc map filter (#27 <https://github.com/at-wat/mcl_3dl/issues/27>)
  * updates sample launch file (#28 <https://github.com/at-wat/mcl_3dl/issues/28>)
    
      * The commit enables:
        
          * IMU measurement
          * loading map from pcd file
        
    
  * adds imu measurement (#26 <https://github.com/at-wat/mcl_3dl/issues/26>)
  * adds hysteresis on final estimation (#24 <https://github.com/at-wat/mcl_3dl/issues/24>)
  * updates parameters in sample launch file (#23 <https://github.com/at-wat/mcl_3dl/issues/23>)
    
      * removes map offset parameters
      * specifies jump detection distance
    
  * fixes axis-angle value range (#22 <https://github.com/at-wat/mcl_3dl/issues/22>)
  * updates parameters in sample launch file (#19 <https://github.com/at-wat/mcl_3dl/issues/19>)
  * fixes odometry error parameter handling (#18 <https://github.com/at-wat/mcl_3dl/issues/18>)
  * fixes beam_model raycast origin (#17 <https://github.com/at-wat/mcl_3dl/issues/17>)
  * adds parameter to specify odometry error
  * adds sample launch file (#14 <https://github.com/at-wat/mcl_3dl/issues/14>)
    
      * This fixes #3 <https://github.com/at-wat/mcl_3dl/issues/3>.
      * A dataset for testing will be supplied in future.
    
  * adds documentation (#10 <https://github.com/at-wat/mcl_3dl/issues/10>)
  * fixes init_yaw/pitch/roll setting (#12 <https://github.com/at-wat/mcl_3dl/issues/12>)
  * ad hoc fix to a bug on PCL-1.7 with C++11
    
      * fixes #9 <https://github.com/at-wat/mcl_3dl/issues/9>
    
  * adds matched/unmatched pointclouds output (#7 <https://github.com/at-wat/mcl_3dl/issues/7>)
  * fixes filter resetting in angular mode
    
      * This commit fixes #2 <https://github.com/at-wat/mcl_3dl/issues/2>.
    
  * makes map clipping parameters configurable
  * fixes roll and pitch motion in prediction phase
  * adds /amcl_pose output
    
      * This commit fixes #1 <https://github.com/at-wat/mcl_3dl/issues/1>.
    
  * applies LPF on debugging output pointcloud coordinate
  * changes default map frame to 'map' instead of 'map_ground'
  * outsources map update
  * adds beam model
  * makes z clipping parameters configurable
  * adds parameter to skip measurement
  * reduces almost invisible points in map
  * checks localization covariance on map update
  * detects pose jump and reset LPF
  * makes some parameters configurable
  * adds covariance calculation
  * uses rpy variance instead of quat
  * supports jump back
  * fixes PointRepresentation dimension
  * speed up by using radiusSearch instead of nearestKSearch
  * improves prediction phase
  * adds flexible particle operators
  * removes garbage semicolons
  * makes matching related parameters configurable
  * makes several parameters configurable
  * adds output filter
  * adds weight in matching
  * adds some parameters
  * reduces number of points of updated map cloud
  * adds particleBase::operator+
  * clips and updates maps
  * adds vec3::operator*
  * adds arg to specify sigma to resampling
  * avoids memory access error in max()
  * supports tf and initialpose
  * supports quat::inverse
  * supports vec3::operator-
  * updates test parameters
  * update map cloud
  * accumulates clouds
  * fixes resampling
  * first test version
  * Contributors: Atsushi Watanabe

 -- Atsushi Watanabe <atsushi.w@ieee.org>  Mon, 23 Apr 2018 00:00:00 -0000


