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Release Beluga 2.1.1 (#560)
### Proposed changes Precisely what the title says. Patch release given changes since 2.1.0 have been mild. #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [ ] 🚀 Feature (change which adds functionality) - [x] 📚 Documentation (change which fixes or extends documentation) ### Checklist _Put an `x` in the boxes that apply. This is simply a reminder of what we will require before merging your code._ - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) --------- Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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‎beluga/CHANGELOG.rst‎

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Changelog for package beluga
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.1 (2026-04-20)
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* Change default of the strict boundaries setting to true (`#555 <https://github.com/Ekumen-OS/beluga/issues/555>`_)
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* Add paranoid mode (`#557 <https://github.com/Ekumen-OS/beluga/issues/557>`_)
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* Add missing Eigen/Eigenvalues include for GCC 15 / Eigen5 compatibility (`#553 <https://github.com/Ekumen-OS/beluga/issues/553>`_)
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* Add new overload for reweight action that tracks likelihood (`#530 <https://github.com/Ekumen-OS/beluga/issues/530>`_)
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* Thick walls pre-processing feature added (`#541 <https://github.com/Ekumen-OS/beluga/issues/541>`_)
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* Add random probability term to landmark sensor model (`#544 <https://github.com/Ekumen-OS/beluga/issues/544>`_)
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* Drop `ciabatta` dependency (`#542 <https://github.com/Ekumen-OS/beluga/issues/542>`_)
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* Contributors: Andrés Brumovsky, Gerardo Puga, Jesús Silva, Michel Hidalgo, Nahuel Espinosa, Paul Verhoeckx, Tim Clephas
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2.1.0 (2025-11-25)
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* Beluga compiles with MSVC on Windows (`#523 <https://github.com/Ekumen-OS/beluga/issues/523>`_)

‎beluga/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>beluga</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>A generic MCL library for ROS2.</description>
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‎beluga_amcl/CHANGELOG.rst‎

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Changelog for package beluga_amcl
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.1 (2026-04-20)
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* Change default of the strict boundaries setting to true (`#555 <https://github.com/Ekumen-OS/beluga/issues/555>`_)
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* Add paranoid mode (`#557 <https://github.com/Ekumen-OS/beluga/issues/557>`_)
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* Thick walls pre-processing feature added (`#541 <https://github.com/Ekumen-OS/beluga/issues/541>`_)
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* Contributors: Andrés Brumovsky, Gerardo Puga, Michel Hidalgo
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2.1.0 (2025-11-25)
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* Beluga AMCL documentation update (`#536 <https://github.com/Ekumen-OS/beluga/issues/536>`_)

‎beluga_amcl/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>beluga_amcl</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>An AMCL node implementation for ROS2 using Beluga.</description>
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‎beluga_benchmark/CHANGELOG.rst‎

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Changelog for package beluga_benchmark
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.1 (2026-04-20)
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------------------
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2.1.0 (2025-11-25)
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* Drop Noetic support (`#520 <https://github.com/Ekumen-OS/beluga/issues/520>`_)

‎beluga_benchmark/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>beluga_benchmark</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>Scripts to benchmark, profile and compare beluga with other AMCL implementations.</description>
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‎beluga_example/CHANGELOG.rst‎

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Changelog for package beluga_example
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.1 (2026-04-20)
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2.1.0 (2025-11-25)
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* Remove ROS 1 references and documentation (`#528 <https://github.com/Ekumen-OS/beluga/issues/528>`_)

‎beluga_example/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>beluga_example</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>Example launch files for Beluga AMCL.</description>
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‎beluga_ros/CHANGELOG.rst‎

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Changelog for package beluga_ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.1 (2026-04-20)
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* Change default of the strict boundaries setting to true (`#555 <https://github.com/Ekumen-OS/beluga/issues/555>`_)
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* Add paranoid mode (`#557 <https://github.com/Ekumen-OS/beluga/issues/557>`_)
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* Contributors: Gerardo Puga, Michel Hidalgo
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2.1.0 (2025-11-25)
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* Remove ROS 1 references and documentation (`#528 <https://github.com/Ekumen-OS/beluga/issues/528>`_)

‎beluga_ros/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>beluga_ros</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>Utilities to interface ROS with Beluga.</description>
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