Changelog for package cob_obstacle_distance

0.8.24 (2024-04-30)

• Merge pull request #282 from fmessmer/fix/link_ccd fix undefined reference to symbol ccd_vec3_origin
• fix undefined reference to symbol 'ccd_vec3_origin'
• Contributors: Felix Messmer, fmessmer

0.8.23 (2024-02-20)

• Merge pull request #281 from fmessmer/feature/optimize_workspace optimize workspace
• use mojin_gazebo_objects
• remove --inorder args
• Contributors: Felix Messmer, fmessmer

0.8.22 (2023-04-29)

0.8.21 (2023-01-04)

0.8.20 (2022-11-17)

0.8.19 (2022-07-29)

0.8.18 (2022-01-12)

0.8.17 (2021-12-23)

0.8.16 (2021-10-19)

0.8.15 (2021-05-17)

0.8.14 (2021-05-10)

• Merge pull request #255 from fmessmer/fcl_migration fcl noetic compatibility
• comment broken bits
• fcl noetic compatibility
• Contributors: Felix Messmer, fmessmer

0.8.13 (2021-04-06)

0.8.12 (2020-10-21)

• Merge pull request #243 from fmessmer/test_noetic test noetic
• conditional depend for orocos-kdl
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.8.11 (2020-03-21)

0.8.10 (2020-03-18)

• Merge pull request #226 from fmessmer/ci_updates_melodic [travis] ci updates - melodic
• catkin_lint fixes
• Contributors: Felix Messmer, fmessmer

0.8.1 (2019-11-07)

0.8.0 (2019-08-09)

• Merge pull request #209 from fmessmer/release_fixes [Melodic] release fixes
• proper cast of urdf pointer
• Contributors: Felix Messmer, fmessmer

0.7.8 (2019-08-09)

0.7.7 (2019-08-06)

• Merge pull request #208 from ipa-jba/melodic_dev [Melodic] melodify
• acommodate kdl api change
• use streams instead of lexical cast (deprecated)
• use urdf ptr types
• Contributors: Felix Messmer, Jannik Abbenseth

0.7.6 (2019-06-07)

0.7.5 (2019-05-20)

0.7.4 (2019-04-05)

0.7.3 (2019-03-14)

0.7.2 (2018-07-21)

• update maintainer
• Contributors: fmessmer

0.7.1 (2018-01-07)

• Merge remote-tracking branch 'origin/kinetic_release_candidate' into kinetic_dev
• Merge pull request #169 from ipa-fxm/kinetic_updates_indigo Kinetic updates indigo
• Merge branch 'indigo_dev' of github.com:ipa320/cob_control into kinetic_dev Conflicts: .travis.yml
• Merge pull request #159 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.7.0 (2017-07-18)

• Merge branch 'indigo_release_candidate' into kinetic_release_candidate
• Merge branch 'indigo_dev' of github.com:ipa320/cob_control into multi_distro_travis_kinetic Conflicts: .travis.yml README.md
• [kinetic] migration (#115)
  • [kinetic] find package Eigen3 instead of Eigen
  • [kinetic] switched from fcl to libfcl-dev dependency
  • ignore cob_obstacle_distance for now
  • [kinetic] use industrial_ci for travis
  • [kinetic] use industrial_cis ipa320 fork & notify on_success only on change
  • fixed fcl dependency
  • new fcl version switched from boost::shared to std::shared
  • whitelist package
  • use ros-industrials fork
  • cleaned up travis.yml
• Added Eigen3 Indigo/Kinetic compatibility
• Contributors: Benjamin Maidel, Denis Štogl, Richard Bormann, ipa-fxm

0.6.15 (2017-07-18)

• use xacro --inorder
• Merge pull request #122 from ipa-fxm/indigo_roslint roslint some packages
• starting to roslint some packages
• manually fix changelog
• add possiblitiy to add shelf as obstacle
• Contributors: Nadia Hammoudeh García, ipa-fxm

0.6.14 (2016-10-10)

0.6.13 (2016-10-10)

0.6.12 (2016-10-10)

• Two publishers where publishing to the same frame name
• Contributors: ipa-bfb

0.6.11 (2016-04-01)

• outsource obstacle_distance messages
• add missing install tag
• Added method to set drawable again and to avoid drawing of self-collision links.
• Renamings and replaced box with sphere.
• Fixed order of transform and service registration. Additionally added more time to wait for service availability.
• working on marker publisher
• working on log output
• renaming frame - link
• Contributors: Marco Bezzon, ipa-fxm

0.6.10 (2015-08-31)

0.6.9 (2015-08-25)

• review dependencies
• authors in package xml
• Merge branch 'test_of_feature_with_adapt_frame_tracker' of github.com:ipa-fxm-mb/cob_control into test_of_feature
• Corrections integrated from PR: [WIP] Finalizing/Testing of TwistController features (#51). Renaming from frame_to_collision to link_to_collision.
• • Made some changes for test. - Decreased Duration time for markers. - Corrected pose update for self collision check frames. - Added new scripts.
• boost revision
• Some preparations for test: IMarker smaller, Alpha settings, More scripts. Default value for Frame Tracker params.
• • CA: Increased exp. decay from 0.1 to 0.2 - Added comments. - Moved constraints set and management to base class. - Added time delta to test script.
• • Removed parameter mu. - Added obstacle id for identification of collision pair in ObstacleDistance.msg. - Added Frametracking to DataCollector. - Restructured obstacle distance data collecting. - In debug trajectory marker added explicit usage of frame_tracker/tracking_frame.
• merge
• more dependency fixes according to review comments
• explicit dependency to boost
• Fixed bug when obstacles move away from robot. Clear distances list when new distances arrive (also in case nothing is available for current link) to avoid no movement.
• Due to restructuring of self-collision YYAMLs also restructured computation of the file and the ignoreSelfCollisionPart method.
• • Renaming obstacle_marker_server for interactive obstacle
  • Now publishing all obstacle distances instead of the minimal distance only. Defined a MIN_DISTANCE for selection of data to publish (e.g. > than 0.5 m doesn't make sense for CA).
  • Selection of the minimal distance in debug node.
  • Callback data mediator processes all obstacles for a frame of interest id now.
  • Restructured methods in constraint classes.
  • In CA constraint now processing all collision pairs for one link in a CollisionAvoidance instance.
  • Removed unnecessary output.
• Resolved merge conflicts.
• more fixes for migration afer merge
• merge with package_xml_2
• remove trailing whitespaces
• migrate to package format 2
• • Avoided drawing of self-collision frames -> can be done via rviz.
  • Increased CA activation threshold to 0.25 m
• • For BVH introduced a shared_ptr member -> so a collision object can be created without copying the whole BVH. This saves computation time (5% for 3 SCA and 1 torus)
  • Decreased rate for cob_obstacle_distance because the movement does not change that often.
  • According to the rate adapted the moving average for distance in constraint_ca_impl
• Merge branch 'indigo_dev' of github.com:ipa320/cob_control into test_of_feature
• Fixed message generation issue
• review dependencies
• updates from ipa-fxm-mb
• updates from ipa320
• cleanup
• missing add_dependencies
• sort dependencies
• Fixed bugs in cartesian_controller: waitFor last available transform else extrapolation error; send always a new constructed StampedTransform instead of using an already existent one, else end-effector is decoupled from manipulator and other confusing things happen...; Added responsible node to tf error msg.
• Merged with ipa-fxm/test_of_feature branch.
• • Corrected JLA constraint. - Added weighting of GPM prio dependent. - Added buffer region for CA constraint to become active.
• • Removed PredictDistance Service (not necessary anymore; found a lightweight computational algorithm).
  • Made KDL::ChainFkSolverVel_recursive in CA constraint available for prediction.
  • Replace constraints update method prediction variable with JntArrayVel.
  • Refactored ObstacleDistance.msg: Reduced number of members, renamings, added frame_of_interest for registration and made use of header->frame_id for arm_base_link.
  • Renamed service for registration.
  • Improved input twist damping in case of a constraint is in CRITICAL state.
• added publisher for path preview
• allow target_frame to be configured via private param, beautifying
• added interactive_obstacle test node, less sleep time on marker publisher
• Further tests and adaptations for test.
• Reduced granularity of a fcl::shape representation. Replaced arm_1_collision with mild.dae.
• Fixed integer size. There might never be 2\^64 joints. But maybe more than 255 that's why 2\^16 had been chosen.
• finalize example.launch
• move distance_vector marker publisher to separate node
• Reduced granularity of a fcl::shape representation. Replaced arm_1_collision with mild.dae.
• fix sleep rates
• add topic name to ROS_WARN output
• add example launch file
• generalize scripts, minor changes
• Corrected CMakeLists.txt. Replaced ASSIMP_LIBRARIES with assimp.
• Added consideration of origin from URDF tags. Removed shape_type and so Registration.srv and replaced by SetString service. Removed comments.
• Considering visual tag as fallback now. Removed duplicate map and struct.
• Considered further proposals from https://github.com/ipa-fxm/cob_control/pull/7.
• Considered proposals from https://github.com/ipa-fxm/cob_control/pull/7
• Added a YAML file to have the parameters as example. This folder can be deleted after integration into cob_robots package.
• Added self-collision checking. Corrected fcl bug(?): In case of simple geometric shapes the nearest_points differ from BVH models. Therefore converted simple shapes into BVH models to have the same behaviour in all cases.
• Made usage of common methods. Added defines for conversion of array access.
• Transform is done in a separate thread now. Added subscriber to CollisionObject messages to create obstacle in other nodes (e.g. Python test nodes). Added corresponding methods to process CollisionObject mesh data.
• Integrated comments of https://github.com/ipa-fxm/cob_control/pull/7. Replaced static link2collision map with URDF parser. Added class for URDF parser and create marker shapes.
• Added functions to represent a registered robot link as a mesh instead of simple shapes. Added a mapping between robot link name and mesh resource name.
• Added JLA inequality constraint to be used within the dynamic task strategy. Added checking and resetting of dynamic_reconfigure params. Corrected formatting of LSV damping.
• Separated constraints from solvers and vice versa. Added new parameters. Prettified GUI.
• Added assimp library for generic mesh file parsing. Added a parser base to specify common interfaces and methods.
• Added roslib to resolve package:// uris. Renamed typedefs. Specialized template implementation for fcl::BVHModel<fcl::RSS> > to use meshes like simple shapes. Added example code for a arm_1_collision.stl mesh.
• Made CA possible with active base. Bug fixing of solvers in case of base active. Corrected JLA constraints.
• re-arrange Parameter structs
• Added new method for dynamic tasks readjustment. Implemented prediction of distance now for vectors.
• resolve conflicts after merging ipa-fxm-mb/task_stack_prio_feature
• beautify and code-review
• Added chain recursive fk vel calculator. Corrected calculation of translational Jacobian for CA. Introduced further msg types to achieve that. Extended solvers: CA as first prio task, CA as GPM, CA as GPM with disappearing main tasks.
• Corrected dist calclation for GPM CA
• Corrected CMakeLists.txt and package.xml. Resolved dependencies.
• Added stack of tasks and further developments on GPM CA.
• Further developments.
• Implemented proposals from discussion https://github.com/ipa320/cob_control/pull/38. Removed tabs. Corrected node handles.
• Made corrections proposed in https://github.com/ipa320/cob_control/pull/38#
• - Made cob_obstacle_distance independent from testdata/robot_description.xml file. Only in case of the parameter /robot_description could not be read the xml file is used (e.g. for testing purposes).
  • For that added roslib as dependency.
• • Added doxygen comments
  • Corrected the messages produced by catkin_lint
  • Created a static method to return SolverFactory
• • Made obstacle tracking independent from arm_right.
  • Refactored signatures of solve methods: Instead of using dynamic vector now a 6d vector is used because twists are of dim 6d.
  • Removed unnecessary comments.
  • Introduced eigen_conversions to have simple converters instead of filling matrices and vectors manually -> Reduces typing and copying errors!
• • Renamed some variables according to ROS C++ style guide
  • Moved advanced chain fk solver from cob_twist_controller to cob_obstacle_distance.
  • Replaced complicated transformation of base_link to arm_base_link with simpler and direct one.
  • Removed unnecessary services and replaced with message publisher and subscriber (for distance calculation).
  • Added example launch file for cob_obstacle_distance.
  • Corrected handling of objects of interest. Now in both packages frames are used (instead of joint names) -> made it similar to KDL and tf handlings.
  • Removed commented code.
  • Removed pointer where objects could be used directly (constraint params generation)
  • callback data mediator keeps old distance values until new ones were received. An iterator is used to go through the container.
• • Created a obstacle distance publisher in cob_obstacle_distance package and a subscriber in cob_twist_controller package.
  • Created registration service in cob_obstacle_distance
  • Creation of multiple CA constraints dependent on formerly registered joint regions.
• Renaming
• Contributors: Andriy Petlovanyy, ipa-fxm, ipa-fxm-mb