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Changelog for package robot_localization

2.1.7 (2015-01-05)

Added some checks to eliminate unnecessary callbacks
Updated launch file templates
Added measurement outlier rejection
Added failure callbacks for tf message filters
Added optional broadcast of world_frame->utm transform for navsat_transform_node
Bug fixes for differential mode and handling of Z acceleration in 2D mode

2.1.6 (2014-11-06)

Added unscented Kalman filter (UKF) localization node
Fixed map->odom tf calculation
Acceleration data from IMUs is now used in computing the state estimate
Added 2D mode

2.1.5 (2014-10-07)

Changed initial estimate error covariance to be much smaller
Fixed some debug output
Added test suite
Better compliance with REP-105
Fixed differential measurement handling
Implemented message filters
Added navsat_transform_node

2.1.4 (2014-08-22)

Adding utm_transform_node to install targets

2.1.3 (2014-06-22)

Some changes to ease GPS integration
Addition of differential integration of pose data
Some documentation cleanup
Added UTM transform node and launch file
Bug fixes

2.1.2 (2014-04-11)

Updated covariance correction formulation to "Joseph form" to improve filter stability.
Implemented new versioning scheme.

2.1.1 (2014-04-11)

Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include