v1.1.0

Reliability sprint, Jazzy support, and the artifact-first relocalization / global-localization foundation.

Highlights

• Crash fixes for the reported startup issues: non-finite /initialpose rejected, use_odom:=true integration guarded until a valid initial pose, map TF published immediately on /initialpose (#76, #56, #47)
• New docs: frame contract, bringup troubleshooting, map alignment, pose covariance semantics, reliability roadmap, development plan
• ROS 2 Jazzy support: distro-aware local env setup, HDL sample metadata patching, Nav2 preset compatible with the Iron+ bringup (plugin type names, collision_monitor / docking_server sections, BT plugin list removal)
• Istanbul public preset tuning: local_map_crop + recovery_retry_from_last_pose; repeat-compare median translation 1.17 m vs 1.66 m baseline
• Artifact-first relocalization (v1.1 MVP): validated dry-run /initialpose command artifacts from NDT_OMP-scored candidates, with no publish in the default benchmark path
• Global localization groundwork (G1): MAP_GRID map-wide candidate baseline and BBS_2D branch-and-bound candidate generator over the occupancy-grid pyramid, both emitting the shared relocalization CSV contract

Release boundary

run_release_regression_suite.sh overall_pass=true on a Jazzy build (2026-06-11):

Check	Result
Istanbul 60 s no-IMU	0.673 m translation RMSE, 0.036 s alignment median
HDL 60 s IMU check	468.5 / 459.0 pose-row medians, 1 fallback event
Nav2 reinit supervisor 150 s	requested rows 285 → 6, both goals SUCCEEDED

See docs/public_validation_log.md for the recorded snapshot and CHANGELOG.md for the full list. Global relocalization remains experimental and outside the default runtime path; see docs/v1_1_relocalization.md for the claim boundary.

0.2.1-jazzy

Add ros jazzy CI (#38)

* Add ros jazzy CI

* Update README.md

* Change ndt omp branch for Jazzy CI

0.2.0-humble

• Add ndt_omp_ros2
• Support initial pose from RViz panel
• Add registration score threshold

0.1.0-humble

Add imu tf conversion (#17)

* Add imu tf conversion

* Fix warn message

Co-authored-by: Ryohei Sasaki <rsasaki0109@gmail.com>

0.1.0-foxy

Update main.yml

0.1.0-dashing

Merge pull request #2 from rsasaki0109/devel

Devel