Summary

• Fixes some issues with building the gisnav Docker Compose service which possibly prevented the README instructions from working.
• Significantly improves gisnav Docker image build time.

Known Issues

• ArduPilot Docker Compose service is stale/broken, needs significant rework
• UBX support does not yet work

List of PRs

• Update documentation by @hmakelin in #134
• Use mavros from package index instead of building from source by @hmakelin in #135
• Fix make build target by @hmakelin in #136
• Fix gisnav Dockerfile by @hmakelin in #137

Full Changelog: v0.68.0...v0.68.1

Summary

Service architecture and networking redesign. See #127 for more information.

Known Issues

• ArduPilot Docker Compose service is stale/broken, needs significant rework
• UBX support does not yet work

List of PRs

• Update documentation by @hmakelin in #125
• Documentation updates by @hmakelin in #126
• Service architecture and networking redesign by @hmakelin in #127
• Update NMEA support by @hmakelin in #128
• Include ROS Makefile targets in root Makefile by @hmakelin in #129
• Prepare release v0.68.0 by @hmakelin in #130
• Enable precommit inside gisnav container by @hmakelin in #131
• Fix dead links in documentation by @hmakelin in #132
• Fix autodocsumm version by @hmakelin in #133

Full Changelog: v0.67.0...v0.68.0

Summary

• Add NMEA support
• Change keypoint matching model to LightGlue
• Enable visual odometry
• Add new VitePress documentation

Known issues

• ArduPilot Docker Compose service is stale/broken, needs significant rework
• The px4 service (Docker container) needs to download various files on first run making startup very slow (on first run)
• Orientation currently not being fused from Odometry message
• Velocity variance for outgoing SensorGps message is too large

List of PRs

• Include pretrained weights in image by @hmakelin in #117
• Support NMEA output by @hmakelin in #118
• Use LightGlue by @hmakelin in #119
• Enable visual odometry by @hmakelin in #120
• Add VitePress docs by @hmakelin in #121
• Fix docs build by @hmakelin in #122
• Fix docs deployment by @hmakelin in #123
• Prepare release v0.67.0 by @hmakelin in #124

Full Changelog: v0.66.0...v0.67.0

Summary

• Adds EKF node to include velocity and course over ground estimates as well as better quality position, heading and variance estimates in outgoing mock GPS messages.
• Better but not full compliance with REP 105
• Separates related Compose services into isolated Docker bridge networks, improving security and reliability
• Adds custom ROS message definitions to better describe intermediate outputs of some nodes
• Adds experimental admin dashboard and file server Compose services (not documented) to make configuring the system and managing maps not require specialized GIS knowledge
• Various maintainability & performance improvements and documentation updates

Known Issues

• ArduPilot Docker Compose service is stale/broken, needs significant rework
• The gisnav and px4 services (Docker containers) need to download various files on first run making startup very slow on first run

List of PRs

• Fix building docs in workflow by @hmakelin in #96
• Docs workflow updates by @hmakelin in #97
• Docs deploy job update by @hmakelin in #98
• Fix documentation errata by @hmakelin in #99
• Fix psycopg2 Python wheel build by @hmakelin in #100
• Update documentation by @hmakelin in #101
• Free up space on GitHub runner by @hmakelin in #102
• Use Docker bridge networks instead of sharing host network by @hmakelin in #103
• Enforce Docker Compose service dependencies by @hmakelin in #104
• Make MapServer image multi-arch by @hmakelin in #105
• Add shared volume for managing maps by @hmakelin in #106
• Implement multi-stage build for gisnav and mavros by @hmakelin in #107
• Add admin dashboard by @hmakelin in #108
• Add diagram to describe ROS topography by @hmakelin in #110
• Update Jupyter notebook analysis by @hmakelin in #111
• Update documentation on use of tf frames and REP 105 by @hmakelin in #112
• Fix Makefile demo target by @hmakelin in #114
• Add EKF node by @hmakelin in #115
• Update version to 0.66.0 by @hmakelin in #116

Full Changelog: v0.65.0...v0.66.0

Summary

Redesign using tf2 transformations library with improved development tooling.

Known Issues

• ArduPilot Docker Compose service is stale/broken, needs significant rework
• GPS blending in the demo should work but fully killing the simulated GPS in the demo scenario possibly triggers failsafes because PX4 EKF2 seems to now require a velocity estimate which GISNav currently does not provide

List of PRs

• Prepare HIL simulation & onboard computer deployment by @hmakelin in #32
• Refactor docker compose service orchestration by @hmakelin in #33
• Refactor CI by @hmakelin in #34
• Add static analysis to CI by @hmakelin in #35
• Update contributing docs by @hmakelin in #36
• Fix launch tests for CI by @hmakelin in #37
• Fix workflow name by @hmakelin in #38
• Update SITL tests & fix WMS connection by @hmakelin in #39
• Run gisnav docker image as root by @hmakelin in #40
• Update launch documentation by @hmakelin in #41
• Refactor SITL test by @hmakelin in #42
• Improve GPS error estimation in SITL test script by @hmakelin in #43
• Use MAVROS for PX4 middleware by @hmakelin in #44
• Include gisnav_msgs in main repository by @hmakelin in #45
• Update sitl paths by @hmakelin in #46
• Publish mock GPS over MAVROS by @hmakelin in #47
• Add RViz by @hmakelin in #48
• Refactor container orchestration by @hmakelin in #49
• Use decorators for ROS boilerplate by @hmakelin in #50
• Refactor MapNode by @hmakelin in #51
• Pose estimation refactor by @hmakelin in #52
• Improve narrow types decorator by @hmakelin in #53
• Sphinx docs: Add diagram for HIL setup by @hmakelin in #54
• Add data flow graph by @hmakelin in #56
• Refactor out bbox node and autopilot node by @hmakelin in #55
• Rviz node by @hmakelin in #57
• Add ROS parameter decorator by @hmakelin in #58
• Restructure repository to align with improved terminology by @hmakelin in #59
• Refactor MockGPSNode by @hmakelin in #60
• Fix altitude timestamp by @hmakelin in #61
• Add docker container health monitoring by @hmakelin in #62
• Customize Sphinx docs by @hmakelin in #63
• Update documentation by @hmakelin in #64
• ROS humble update by @hmakelin in #65
• Update onboard SITL docs by @hmakelin in #66
• Update HIL instructions by @hmakelin in #67
• Refactor docker compose file by @hmakelin in #68
• Enforce arm64 builds for onboard targets by @hmakelin in #69
• Faster docker builds by @hmakelin in #70
• Improve PX4 and Mavros Docker images by @hmakelin in #71
• Add start and stop Makefile rules by @hmakelin in #72
• Add launch tests by @hmakelin in #73
• Fix StateListenerNode subscriptions and assertions by @hmakelin in #74
• Add unit tests by @hmakelin in #75
• Handle connection error to pose estimation service in CVNode by @hmakelin in #76
• Run testing workflows only if a new Docker image is successfully uploaded by @hmakelin in #77
• Fix non-existent cached _orthoimage error by @hmakelin in #78
• Refactor torch-serve by @hmakelin in #80
• Refactor out Euler angles from pre-processing by @hmakelin in #82
• Retain timestamp of oldest sensor data by @hmakelin in #79
• Enable shared memory by @hmakelin in #83
• Refactor mapserver dockerfile by @hmakelin in #84
• Remove mapproxy service by @hmakelin in #85
• Push multi-arch Docker images into GHCR by @hmakelin in #86
• Use dedicated gscam service for integrating camera by @hmakelin in #87
• Add QGIS service by @hmakelin in #89
• Use release/1.14 version of px4_msgs for micro-ros-agent Docker image by @hmakelin in #91
• Redesign for tf2 transformations library by @hmakelin in #93
• Update version to 0.65.0 by @hmakelin in #95

Full Changelog: v0.64.0...v0.65.0

What's Changed

• Update defaults for PX4 v1.14 by @hmakelin in #26
• Add display env variable for gisnav service by @hmakelin in #28
• Add max radius validation to map node _update_and_publish method by @hmakelin in #29
• Update SITL tests for new Docker containers by @hmakelin in #30
• Fixes for Jetson Nano build by @hmakelin in #31

Full Changelog: v0.63.1...v0.64.0

What's Changed

• Update docs by @hmakelin in #25
• Fix pose estimator imports by @hmakelin in #27

Full Changelog: v0.63.0...v0.63.1

What's Changed

• Add links to prebuilt images in README.md. by @hmakelin in #24
• Distribute logic to multiple specialized ROS nodes to improve maintainability by @hmakelin in #23

Full Changelog: v0.62.0...v0.63.0