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Changelog

All notable changes to this project are documented in this file.

[2026-04-05] - 4D ap_ukf + NGPS VPS odometry

Changed

  • ap_ukf: 4D local fusion (x, y, vx, vy); IMU removed; first VPS bootstraps the filter; VPS soft correction over N frames; 4×4 YAML covariances.
  • ap_ngps_ros2: Publishes nav_msgs/Odometry on odometry/vps (local xy after first-fix origin).
  • Launches: unified_localization*.launch.py no longer remap IMU into fusion_ros.

[2026-04-03] - ardupilot_gazebo iris SDF aligned with ros2 branch

Fixed

  • iris_with_standoffs/model.sdf: collision mesh URI changed from package://ardupilot_gazebo/.../iris_collision.stl to model://iris_with_standoffs/meshes/iris_collision.stl so plain gz sim (no ROS/ament) resolves assets via GZ_SIM_RESOURCE_PATH instead of failing with “uri could not be resolved”.
  • Restored ardupilot_gazebo/models/iris_with_gimbal/model.sdf and models/gimbal_small_3d/model.sdf from upstream ros2. Our branch had diverged: non-merged model:// includes and scoped link names (iris_with_standoffs::base_link) caused sdformat_urdf to fail with “Failed to find sdf canonical link [base_link]” when launching iris_runway.launch.py. The ros2 iris uses <include merge="true">, package:// URIs, and flat base_link / gimbal_link joint names; the gimbal model on ros2 names the root link gimbal_link (not base_link) to match that joint.

[2026-03-27] - Docker + Distrobox setup

Added

  • Added setup for docker + distrobox for easy replication of sim and hardware tests

[2025-12-20] - V2: Squashed commits and added docs

Added

  • Documentation files: CAMERA_IMU_CALIBRATION.md and NON_GPS_NAVIGATION.md
  • Links to original Google Docs documentation

[2025-10-26] - README Update

Changed

  • Updated main README.md with improved documentation structure

[2025-10-11] - Completed Integration

Added

  • Complete NGPS ROS2 package (ap_ngps_ros2)
    • ROS2 node for visual geo-localization using LightGlue/SuperPoint
    • Launch files for NGPS localization and unified system
    • Configuration files (ngps_config.yaml, unified_system_config.yaml)
    • Installation scripts and dependencies
    • Package metadata (CMakeLists.txt, package.xml)
    • Test files for NGPS node and rotation detection
    • Comprehensive README with usage instructions

Changed

  • Integrated NGPS localization node with ROS2 ecosystem
  • Added unified launch files for complete system integration

[2025-06-09] - Transformer Based Matcher

Added

  • Initial transformer-based feature matching implementation
  • Jupyter notebook (ap_ngps_2(3).ipynb) for experimentation and development

Changed

  • Updated UKF README.md with additional documentation

[2025-06-05] - UKF and VIO Integration

Added

  • UKF Package (ap_ukf)

    • Unscented Kalman Filter implementation for sensor fusion
    • Core state fusion logic (stateFuser.h, stateMath.h, stateTypes.h)
    • ROS2 integration (fusionRos.h, fusionRos.cpp)
    • Launch files and configuration
    • Comprehensive test suite (localization_tests, ukf_tests, ukf_helpers_tests)
    • README with state estimation documentation

  • VIO Package (ap_vips)

    • Visual-Inertial Odometry system
    • Camera models support
    • Package structure and documentation

Changed

  • Project structure expanded to support multi-sensor fusion architecture

[2025-06-04] - Initial Commit

Added

  • Initial project structure
  • Basic README.md
  • LICENSE file
  • Foundation for NGPS flight system