1.4.0

Added

• Traversability rules: config/traversability.yaml decides from OSM tags which ways the robot may drive on (first matching rule wins, each with a reason the operator sees in the node log) and what they cost. MapData applies the rules when a map is loaded for planning — exclude_ways is now the shortcut for rules that only deny highway values — and GraphPlanner weighs its edges by the same highway/surface cost tables as the grid planner through the shared pathsolver.way_cost helper, while the reported route length stays geometric. The file is selectable per run (traversability_file parameter, traversability:=, --traversability) and is part of the map and planner cache keys, mtime included
• Offline route planning: map_data.pathsolver.route.plan_route (the Planner screen's graph/grid planning as a library call, with densify, failure reasons and snap distances), map_data.annotations (annotation-store merge without the web app, load_mapdata_with_annotations), the map_data_plan CLI, the route_planner ROS 2 action server with the new map_data_interfaces package (PlanRoute.action), route_planner.launch.py, GraphPlanner.snap_distance and gpx.create_gpx_track. The viewer's /api/create_replan now delegates to plan_route and reports a reason on failure
• config/route_planner.yaml: every route_planner parameter in one documented file, loaded by route_planner.launch.py (params_file:= takes an absolute path or a name in config/). The launch arguments now default to empty and are applied on top of the file, so an argument left unset keeps the file's value; highway_types:=footway,road lets the graph planner use roads as well as footways. map_data.utils.launch holds the argument helpers
• keep_goal (default on) ends a route at the requested goal itself rather than at its projection onto the network, which can be tens of metres short; the final off-network leg is densified like the rest. The goal has its own snap limit (goal_max_snap_distance, 30 m, failing with snap_too_far) separate from the start's 100 m, which is the robot's own fix
• exclude_highway (default steps): stairs stay in the saved map for the viewer, but MapData.exclude_ways drops them at load time and GraphPlanner filters them for callers passing a raw map, so no route is ever planned over them
• Explicit annotations switch — --annotations auto|none|FILE and the annotations parameter — because a store may delete a large part of the map (Stromovka's deletes 838 ways) and planning has to be able to opt out of it
• Goal QR codes for Robotour: map_data.utils.qr encodes a goal as a geo URI, and the viewer serves one per waypoint (/api/qr, /api/qr.svg) with a full-screen modal and PNG download
• osm_cloud geodetic placement of map data via the ECEF → local TF: new transform_mode (tf | auto | geodetic) and earth_frame parameters. In geodetic mode UTM points are converted to lat/lon → ECEF and placed in local_frame through the earth_frame → local_frame transform (FP_ECEF → FP_ENU0 on Helhest), which is exact where a UTM translation is off by grid convergence (5–8 m per km). Grid bounds use all four UTM corners and the frames are launch arguments
• Latched osm_cloud publishing (the grid and intersections are published once at start-up and after parameter rebuilds via transient-local publishers; republish_period restores periodic re-publishing) and MapData.geometric_intersections(), which finds crossings and endpoint T-junctions geometrically so that annotated viewer paths — which share no OSM node ids and were therefore invisible to node-based detection — reach export and osm_cloud as crossroads
• Viewer tracker for the Helhest field stack: poses in any TF frame are converted to lat/lon through earth_frame (ECEF) instead of requiring a utm frame; new inputs BatteryState, Temperature, e-stop Bool, DiagnosticArray, Joy, crl_commander state string, road_follower state, goal (PoseStamped), waypoint sequence (Path/PoseArray) and visual road path; heading from Imu, Vector3Stamped yaw or Odometry (heading_type). The sidebar gained E-Stop / Follower / Diagnostics rows and battery percentage; the map draws the sequence (blue), road path (cyan) and goal (orange). config/helhest.yaml now targets this stack (verified against the Stromovka bags)
• Tracker map: osm_cloud intersections, the road_follower active intersection with its enter/exit radii, the follower's waypoint window, a robot trail and a fix-age / stale indicator; the sidebar has a map legend
• geodesy.ecef_to_latlon_array
• Documentation: offline route planning, the route_planner config file, the traversability rules and the cost tables the graph planner now shares, and the goal QR codes

Changed

• route_planner preloads the map and caches its graph planners, converts ECEF in a vectorised form and subscribes to static TF only, so a plan request no longer pays for the map on every call
• setup.py installs .mapdata files and annotation stores, so a planning node finds its map in an installed workspace
• data/ is no longer tracked (the directory is kept): local working datasets do not belong in the package
• config/helhest.yaml uses the real crl_commander topic names, and the follower threshold now lives in road_and_gps_follower.yaml
• Nodes log through warning(); on Kilted warn() shares one caller id, which collapses distinct warnings into one throttled message
• Repo hygiene: the stale todo_fixes_plan.md is gone, the unused python3-joblib dependency is dropped from package.xml, .mypy_cache/ is ignored, and a test now asserts that the version stays in step across pyproject.toml, package.xml, map_data_interfaces/package.xml and CITATION.cff and that the released version has a dated changelog section

Fixed

• GraphPlanner.plan() re-inserted the raw clicked coordinate at both ends of every segment, so each via point became a degenerate out-and-back off the network. It now returns on-network points only and collapses coincident vertices and sub-metre spurs — a 900 m loop goes from 49 to 37 vertices — while keep_start (start_from_robot) still keeps waypoint 0 verbatim, because planning from the robot's pose has to begin where the robot is
• annotations: apply_added_nodes inserts each added node after its anchor instead of at a running offset, so added nodes land in the right place when a map is loaded for planning
• The viewer re-maps segment annotations when a way's split points change
• The viewer's sidebar mode panels scroll when their body is too long: as flex:1 children min-height:auto let them grow past the sidebar and #main clipped the overflow, leaving the bottom of the planner unreachable
• osm_cloud no longer clips intersections to the auto grid bounds: those bounds come from the map's query bbox, but ways crossing it are downloaded whole, so crossroads on the route were silently dropped
• osm_cloud loads the same map as the planner (annotations, exclude_highway); a junction on a retagged or deleted way published a ring nothing routes over
• Two field fixes ported from the robot: TransformListener(..., spin_thread=True) so TF lookups do not depend on the node's own executor, and the utm_to_local parameter reshaped to 4×4 — a flat 16-element list otherwise breaks every transform
• Goal codes are served as vectors (/api/qr.svg) and the modal caption renders as HTML
• CI: the OpenCV runtime dependency is declared and the new mypy errors are fixed

Full Changelog: v1.3.0...v1.4.0 · changelog