CHANGELOG

Changelog for package adi_imu

1.1.0 (2026-08-18)

  • CMake: raise minimum required version to 3.14 and remove deprecated ament dependency usage.

  • Contributors: Adrian-Stanea

1.0.1 (2026-08-17)

  • Add IMU covariance estimation framework with selectable algorithms: Static, Welford, Sliding Window, EWMA, and Kalman.

  • Add covariance-enabled launch/config support, including algorithm and motion-detection parameters.

  • Add motion-aware covariance updates via MotionDetector integration in adaptive estimators (EWMA, Sliding Window, Kalman).

  • Fix IMU covariance semantics in published messages: keep orientation covariance invalid (-1) and use all-zero defaults for unknown linear acceleration and angular velocity covariance (Fixes #80).

  • Fix double-free in imu_ros2_node data-provider lifecycle handling (prevents SIGSEGV).

  • Add configurable IMU frame_id parameter (#77).

  • Improve robustness and maintenance: update CI to ROS 2 Humble only, fix launch variable typo, improve buffered delta-channel handling in IIOWrapper, and update documentation (including 3rd-party license references).

  • Contributors: Adrian-Stanea, Ioan Dragomir, Tudor-Alinei-poiana_adi, laurent-19

1.0.0 (2025-09-12)

  • Core Features:

    • Support for multiple ADIS IMU devices including:

      • adis16465-1, adis16465-2, adis16465-3

      • adis16467-1, adis16467-2, adis16467-3

      • adis16470

      • adis16475-1, adis16475-2, adis16475-3

      • adis16477-1, adis16477-2, adis16477-3

      • adis16500

      • adis16501

      • adis16505-1, adis16505-2, adis16505-3

      • adis16507-1, adis16507-2, adis16507-3

      • adis16545-1, adis16545-2, adis16545-3

      • adis16547-1, adis16547-2, adis16547-3

      • adis16550

      • adis16575-2, adis16575-3

      • adis16576-2, adis16576-3

      • adis16577-2, adis16577-3

    • Supported ROS distribution: Humble Hawksbill (Ubuntu 22.04)

    • Supported platforms: x86_64, ARM64

    • Dynamic ADIS device detection and configuration at runtime

    • Real-time data publishing via ROS 2 topics:

      • IMU data (acceleration, angular velocity, temperature)

      • Diagnostics data with device-specific error flags

      • Device identification information

    • Dynamic parameter configuration via ROS 2 parameters

    • Configurable options to enable/disable diagnostic and identification publishers

  • Integration:

    • Launch files for common use cases:

      • IMU with Madgwick filter and RViz visualization

      • ToF and IMU sensor fusion with RViz

    • Buffer-based sensor data acquisition for efficient processing

    • Proper timestamp handling from device when available

  • Documentation and Testing

    • Comprehensive user documentation

    • Integration tests for data publishers

    • System tests for device functionality

    • API documentation with doxygen

  • Infrastructure

    • CI/CD workflows for multiple ROS 2 distributions (Humble, Jazzy, Rolling)

    • Code quality enforcement with linting tools

    • Contributor guidelines and communication standards

  • Contributors: Adrian-Stanea, Budai Robert, Dan Nechita, Ramona Bolboaca, Ramona Gradinariu, Robert, Robert Budai, VHolonec, Vasile Holonec, rbudai