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