Release 1.2.1 · vras-robotour/map_data

Viewer no longer leaks exception detail in HTTP 500 responses (the upload_gpx and create_wormhole handlers now return a generic message and log the real error server-side)
SocketIO CORS now defaults to same-origin instead of a hardcoded *; MAP_DATA_CORS_ORIGINS opts into a specific origin list
Optional access-token gate via MAP_DATA_ACCESS_TOKEN (off by default) for network deployments; documented the --host 0.0.0.0 attack surface in the viewer docs

Guarded three latent None-dereference paths surfaced by mypy: buffer_line raises a clear error for a way with no geometry; osm_cloud raises a clear error if the UTM-to-local transform is still unresolved at startup (rclpy shutdown race) instead of crashing later; upload_gpx rejects a file part with no filename (HTTP 400) instead of raising TypeError
Fixed TrackerNode.num_waypoints never being updated in the ROS node
Fixed polygon rasterization re-blocking holes when drawing obstacles
Fixed inconsistent UTM zone forcing during map parsing
Fixed combine_ways crash when OSM relation merging yields disconnected MultiLineString geometries
Fixed Way.to_pcd_points ignoring the density parameter for linestring geometries
Fixed Way.to_pcd_points cache returning stale results when called with different arguments
Fixed parse_gpx_file / parse_yaml_file returning inconsistent shapes on empty input
Fixed parse_gpx_file only reading waypoints — now falls back to tracks and routes
Fixed RRT* __main__ demo crashing due to tuple start/goal (requires np.array)
Synced hardcoded fallback sand surface cost (0.7 → 0.4) with planner_defaults.yaml
Wired up the dead mapdata_path launch argument in osm_cloud.launch.py (bare mapdata_file/gpx_file names now resolve against the data directory)

Overpass run_queries now filters server-side by the tag families the parser inspects instead of downloading every way/node in the bounding box; matching multipolygon relations and their member ways are recursed in so those obstacles are still classified
Removed the no-op joblib threading parallelism from ReplanPath.replan (the A*/RRT* segment work is GIL-bound); segments run sequentially and the grid cache is warmed once up front, removing a redundant per-segment cache-build race
Removed the now-unused joblib runtime dependency from pyproject.toml
Deduplicated the triplicated way-resolution pipeline in viewer/routes.py into a shared _resolve_way helper, and documented the MapData shallow-vs-deep copy invariant
Removed the unused multi-robot robot_id scaffolding from the tracker (parameter, telemetry field, and helhest.yaml entry) — the viewer targets a single robot

Static type checking with mypy ([tool.mypy] in pyproject.toml), enforced in CI (typecheck job) and as a pre-commit hook, to catch bugs like keyword-only-argument mismatches and inconsistent Flask route return types
Interactive viewer: GET /api/export/geojson endpoint and toolbar button to download the merged (annotation-resolved) map as a .geojson file, for use in QGIS/geojson.io
Unit tests for osm_cloud pure helper functions (create_grid, points_near_ref, transform_points, split_ways_to_points)
pytest-cov coverage reporting in CI
.pre-commit-config.yaml for local ruff lint/format checks
Documented the map_data_info CLI (including --validate), the viewer's --data-dir/--host/--port flags, and the THUNDERFOREST_API_KEY/SEZNAM_API_KEY environment variables in the README and viewer docs
Unit test for the osm_cloud ROS node initialization (parameter wiring, publishers, timer)
Tests for parse_osm_rels multipolygon member-way tagging, combine_ways disconnected members, Way.to_pcd_points cache invalidation, empty-GPX return shape, the off-path zero-cost regression, and launch-argument consumption
NumPy-style docstrings for pathsolver/grid_constructor.py, viewer/helpers.py, and the viewer/routes.py handlers

Full Changelog: v1.2.0...v1.2.1 · changelog

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