Merge branch 'develop'

MRPT · Oct 19, 2024 · 6141f89 · 6141f89
2 parents c6348a6 + 9186b4b
commit 6141f89
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Showing 6 changed files with 15 additions and 5 deletions.
diff --git a/apps/rosbag2rawlog/CMakeLists.txt b/apps/rosbag2rawlog/CMakeLists.txt
@@ -1,6 +1,10 @@
 
 if(NOT TARGET ros1bridge)
-	return()
+	# Try to find it as an external project (needed for mrpt_ros package)
+	find_package(ros1bridge QUIET)
+	if(NOT TARGET ros1bridge)
+		return()
+	endif()
 endif()
 
 project(rosbag2rawlog)

diff --git a/appveyor.yml b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.14.3-{branch}-build{build}
+version: 2.14.4-{branch}-build{build}
 
 os: Visual Studio 2019
 

diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,10 @@
 \page changelog Change Log
 
+# Version 2.14.4: Released Oct 19th, 2024
+- BUG FIXES:
+  - mrpt::nav::CAbstractPTGBasedReactive: Missing heading information in recently-added TP-Space targets as TPose2D.
+  - rosbag2rawlog: Fix detection of mrpt-ros1bridge when built within mrpt_ros ROS packaging.
+
 # Version 2.14.3: Released Oct 12th, 2024
 - Changes in libraries:
   - \ref mrpt_img_grp:

diff --git a/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp b/libs/nav/src/reactive/CAbstractPTGBasedReactive.cpp
@@ -1462,6 +1462,7 @@ void CAbstractPTGBasedReactive::build_movement_candidate(
       ptg_target.target_alpha = ptg->index2alpha(ptg_target.target_k);
       ptg_target.TP_Target.x = cos(ptg_target.target_alpha) * ptg_target.target_dist;
       ptg_target.TP_Target.y = sin(ptg_target.target_alpha) * ptg_target.target_dist;
+      ptg_target.TP_Target.phi = trg.phi;
 
       ipf.targets.emplace_back(ptg_target);
     }

diff --git a/samples/nav_rrt_planning_example/test.cpp b/samples/nav_rrt_planning_example/test.cpp
@@ -93,8 +93,8 @@ void TestRRT1()
   // gridmap.getAsPointCloud( planner_input.obstacles_points );
 
   // Workspace bounding box:
-  planner_input.world_bbox_min = mrpt::math::TPoint2D(bbox.min.x, bbox.min.y);
-  planner_input.world_bbox_max = mrpt::math::TPoint2D(bbox.max.x, bbox.max.y);
+  planner_input.world_bbox_min = {bbox.min.x, bbox.min.y, -M_PI};
+  planner_input.world_bbox_max = {bbox.max.x, bbox.max.y, +M_PI};
 
 // size_t iters=0;
 // Show results in a GUI and keep improving:

diff --git a/version_prefix.txt b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.14.3
+2.14.4
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically