Changelog for package clearpath_platform_description

2.0.3 (2025-01-21)

2.0.2 (2025-01-20)

2.0.1 (2025-01-17)

2.0.0 (2025-01-16)

• Add the A200 Observer backpack attachment (#122)
  • Add the A200 Observer backpack attachment
• [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (#127)
• Add PTZ sim support (#125)
  • Now that axis_camera is released via OSRF, depend on the official package, remove duplicate meshes
  • Rename Gazebo plugins for Jazzy compatibility
  • Modify Axis camera URDFs to using the axis_camera meshes. This lets us control the gazebo topics. Fix the GZ topic names. Camera data is now visible in the simulation
  • Add joint controllers for the pan & tilt actuators. This provides velocity control over the simulated camera
• Add a placeholer URDF for the AMP mount, update meshes (#123)
  • Add a placeholer URDF for the AMP mount; STL & final dimensions to come at a later date
  • Default to treaded wheels, flip all the wheel models so the treads visually go in the correct direction
  • Update the top plate, chassis, livery, smooth wheel, and status light meshes. Closes CPE87-2102
  • Catch unsupported platforms/accessories in vcan generation tests
• A300 (#118)
  • Add A300 meshes
  • Move A300 meshes
  • Add A300 URDF
  • Added A300 control configuration files
  • Remove unstamped parameter, deprecated

  * Use clearpath_hardware_interface LynxHardware ---------Co-authored-by: Luis Camero <<lcamero@clearpathrobotics.com>>

• Add collision tags for MoveIt to avoid these objects (#108)
• Remove all references to clearpath_platform
• Add collision tags for MoveIt to avoid these objects (#108)
• Update simulation support for Jazzy (#117)
  • Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages.
  • Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway
  • Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file
  • Fix the tests to catch unsupported platforms & accessories
• Rename ign_ -> gz_ for gazebo dependencies, comment-out missing jazzy dependencies (for now)
• Contributors: Chris Iverach-Brereton, Luis Camero, Roni Kreinin, Tony Baltovski, luis-camero

1.0.0 (2024-11-25)

• [clearpath_platform_description] Fixed gazebo_controllers param file. (#107)
• Remove all references to clearpath_platform
• Add collision tags for MoveIt to avoid these objects (#108)
• [clearpath_platform_description] Fixed gazebo_controllers param file. (#107)
• Contributors: Luis Camero, Tony Baltovski, luis-camero

0.3.4 (2024-10-08)

0.3.3 (2024-10-04)

0.3.2 (2024-09-29)

• Fix outstanding merge conflict
• Contributors: Luis Camero

0.3.1 (2024-09-23)

0.3.0 (2024-09-19)

• Changes.
• Add PACS mounting locations to Dingo top plate
• Standard mesh names and height parameter for tower shoulder
• R100 attachment rework
• Add dingo top plate URDF
• 0.3.0 Release Candidate with Main Changes (#81)
  • Added tests
  • Added action to build from release and source
  • Generator linting erros
  • Customization linting errors
  • Linting
  • Fix: Remove IP address from discovery server launch so it listens on all NICs
  • Changes.
  • 0.2.8
  • Add sysctl config file that changes ipfrag settings to support receiving large messages
  • Added Zed URDF
  • Added Zed to description generator
  • Modified common parameter generation to always flatten
  • Changes.
  • 0.2.9
  • Missing important remapping to mirror hardware topics
  • Added topic to gazebo plugins
  • Updated topic names to match gazebo message types
  • Topics of simulated onboard sensors
  • Realsense adds optical links when in simulator
  • Changes.
  • 0.2.10
  • Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
  • Fixes styling issues
  • Set spawner as super client
  • Changes.
  • 0.2.11
  • Removed duplicate class
  • Use ROS1 covariance values
  • Updated renamed macanum drive controller

  * Enable gazebo friction plugin on DingoO ---------Co-authored-by: Hilary Luo <<hluo@clearpathrobotics.com>> Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>> Co-authored-by: Steve Macenski <<stevenmacenski@gmail.com>> Co-authored-by: robbiefish <<rob.fisher@hbkworld.com>>

• Set PumaHardware in R100
• URDF Mecanum Updates
• Switched to puma_hardware
• DingoD 1.5 Puma Hardware
• 0.2.8
• Changes.
• 0.2.7
• Changes.
• All Warthog attachments default to 0
• Aligned attachment links
• Added argument to prevent platform hardware from loading
• Define inertial box xacro in the arm plate urdf to be used by other platforms
• Added argument to toggle manipulator controllers
• 0.2.6
• Changes.
• 0.2.5
• Changes.
• switch finding meshes to use the package:// command
• 0.2.4
• Changes.
• 0.2.3
• Changes.
• 0.2.2
• Changes.xx
• 0.2.1
• Changes.
• PACS top plate was not centred with generated frames
• Added Ridgeback attachments
• Added do150 as copy of do100
• R100 mecanum
• Only load mecanum wheels in simulation
• Removed wheel slip plugin
• Dingo O mecanum wheels
• Fixed rocker and small covariance
• Initial Ridgeback
• Initial add do100
• Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero
• Add PACS mounting locations to Dingo top plate
• Standard mesh names and height parameter for tower shoulder
• R100 attachment rework
• Add dingo top plate URDF
• Added tests
• Added action to build from release and source
• Generator linting erros
• Customization linting errors
• Linting
• Fix: Remove IP address from discovery server launch so it listens on all NICs
• Add sysctl config file that changes ipfrag settings to support receiving large messages
• Added Zed URDF
• Added Zed to description generator
• Modified common parameter generation to always flatten
• Missing important remapping to mirror hardware topics
• Added topic to gazebo plugins
• Updated topic names to match gazebo message types
• Topics of simulated onboard sensors
• Realsense adds optical links when in simulator
• Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
• Fixes styling issues
• Set spawner as super client
• Removed duplicate class
• Use ROS1 covariance values
• Updated renamed macanum drive controller
• Enable gazebo friction plugin on DingoO
• Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero

0.2.11 (2024-08-08)

0.2.10 (2024-07-25)

• Topics of simulated onboard sensors
• Missing important remapping to mirror hardware topics
• Contributors: Luis Camero, Steve Macenski

0.2.9 (2024-05-28)

0.2.8 (2024-05-14)

0.2.7 (2024-04-08)

• All Warthog attachments default to 0
• Aligned attachment links
• Contributors: Luis Camero

0.2.6 (2024-01-18)

0.2.5 (2024-01-15)

• switch finding meshes to use the package:// command
• Contributors: Hilary Luo

0.2.4 (2024-01-11)

0.2.3 (2024-01-08)

0.2.2 (2024-01-04)

0.2.1 (2023-12-21)

• PACS top plate was not centred with generated frames
• Contributors: Hilary Luo

0.2.0 (2023-12-08)

• Added W200 Hardware interface.
• Use path substitution
• Removed testing visual for track virtual wheel
• Added wheel parameters to all robot
• Color and wheel are now parameters
• Updated collision model
• Added w200 tracks
• First pass
• Removed serial from URDF
• Accurate mounts shift
• Added DD150
• Re-add caster
• Added default mount
• Removed friction on rear_caster
• Added dd100
• Removed transmission and cleaned up URDF
• Removed erroneaous change
• Removed print
• Updated gazebo simulation
• Changed default parent to default_mount
• Set color appropriately
• Arm Mount at base
• Mounts re-numbering
• Formatted W200 attachment URDF
• Changed top_chassis_link to default_mount
• Changed mid_mount to default_mount
• Renamed sensor_arch namespace
• Changed sensor arch parent
• Added mid_mount
• Origin to bumper
• Added to materials
• Attachment URDF match changes
• Add gazebo controller to URDF without macro
• Moved gazebo controller to common
• Fixes to control parameters and naming
• Base diff drive hardware and hardware interface class J100 and W200 inherit from diff drive Moved each platform into its own folder
• Fixed package names and added w200 urdf macro
• Initial Warthog addition
• Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski

0.1.3 (2023-11-03)

• [clearpath_platform_description] Removed un-used ros2_control params.
• Contributors: Tony Baltovski

0.1.2 (2023-10-02)

0.1.1 (2023-08-25)

• Update gps and imu names to fix generated topic
• Added Ignition frame names to simulate the real robot
• Contributors: Hilary Luo

0.1.0 (2023-08-17)

• Added fenders for J100
• Contributors: Roni Kreinin

0.0.9 (2023-07-31)

0.0.8 (2023-07-24)

• Updated J100 imu and navsat links
• Contributors: Roni Kreinin

0.0.7 (2023-07-19)

• Renamed URDF and meshes directories
• Contributors: Luis Camero

0.0.6 (2023-07-13)

0.0.5 (2023-07-12)

• [clearpath_platform_description] Fixed unused dependency in CMakeLists.txt.
• Contributors: Tony Baltovski

0.0.4 (2023-07-07)

0.0.3 (2023-07-05)

• Updated husky track value
• Wheel slip plugin Significantly improved jackal odom in sim
• Contributors: Roni Kreinin

0.0.2 (2023-07-04)

0.0.1 (2023-06-21)

• Updated launch writer make writing different object types easier Localization parameter fixes Updated gazebo wheel friction
• Added namespacing support
• Increased J100 navsat update rate to 10hz
• Jackal sim support
• Added GPS Added realsense gazebo parameters
• Added gazebo IMU plugin
• use_sim_time support Added lidar gazebo plugins
• Sim fixes
• Fixed dependencies
• Moved description generator to clearpath_generators Added accessory urdf's Use launch arg for choosing controller
• [clearpath_platform_description] Made the serial_port an arg for the a200 and reduced polling timeout.
• Moved IMU filter to platform launch Moved localization into a separate launch file Updated decoration urdfs Added structure urdf
• Remapped topics to match API
• Bishop sensors/mounts
• Added velodyne
• [clearpath_platform_description] Fixed hardware plugin for A200.
• control launch fixes Added ark enclosure for j100 top_plate
• J100 support
• Standard urdf and yaml file name and path Fixed spacing in urdfs
• Description classes
• PACS mounts Common PACS Riser Hokuyo and novatel description fixes
• Initial commit with platform, decoration and mounts generating
• [clearpath_platform_description] Fixed mesh paths.
• [clearpath_sensors_description] Moved Novatel and Hokuyo into sensors from J100.
• [clearpath_platform_description] Renamed all dashes to underscores.
• [clearpath_platform_description] Fixed incorrect path.
• Move clearpath_description to clearpath_platform_description and switched robot names to robot model number.
• Contributors: Roni Kreinin, Tony Baltovski