Changelog for package cob_twist_controller

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)

• Merge pull request #262 from fmessmer/debug_cart_vel_recursive publish cart vel magnitudes for frames of chain
• fix catkin_lint
• calculate fk_vel_recursive based on joint_trajectory_controller state for both desired and actual joint states
• rename debug node
• fix getNrOfJoints vs getNrOfSegments and fixed joint handling
• debug chain
• provide launch file for debug_evaluate_jointstates
• fill header.stamp in twist_magnitude msg
• extend debug_evaluate_jointstates_node to recursively publish cart vel magnitudes for frames of chain
• Contributors: Felix Messmer, fmessmer

0.8.16 (2021-10-19)

0.8.15 (2021-05-17)

0.8.14 (2021-05-10)

• Merge pull request #254 from mikaelarguedas/python3-six ROS_PYTHON_VERSION conditional dependency for python-six
• mark exec_depend
• ROS_PYTHON_VERSION conditional dependency for python-six
• Contributors: Felix Messmer, Mikael Arguedas, fmessmer

0.8.13 (2021-04-06)

0.8.12 (2020-10-21)

• Merge pull request #243 from fmessmer/test_noetic test noetic
• ROS_PYTHON_VERSION conditional dependency for matplotlib
• conditional depend for orocos-kdl
• use setuptools instead of distutils
• 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 #228 from fmessmer/feature/python3_compatibility_melodic [ci_updates] pylint + Python3 compatibility - melodic
• disable simple_script_server import error
• Use six.moves.input for all uses of raw_input/input
• fix modules
• fix pylint errors
• python3 compatibility via 2to3
• Merge pull request #226 from fmessmer/ci_updates_melodic [travis] ci updates - melodic
• catkin_lint fixes
• Contributors: Felix Messmer, Loy van Beek, fmessmer

0.8.1 (2019-11-07)

0.8.0 (2019-08-09)

0.7.8 (2019-08-09)

• Merge pull request #210 from fmessmer/missing_target_dependency add missing target dependency
• add missing target dependency
• Contributors: Felix Messmer, fmessmer

0.7.7 (2019-08-06)

0.7.6 (2019-06-07)

0.7.5 (2019-05-20)

• Merge pull request #206 from fmessmer/improve_lookat_extension improve lookat extension
• implement lookat_pointing_frame
• fix lookat_chain offset, allow KinematicExtension to fail, param-config converter functions
• Contributors: Felix Messmer, fmessmer

0.7.4 (2019-04-05)

0.7.3 (2019-03-14)

• Merge pull request #197 from ipa320/fmessmer-patch-1 add missing install tags
• add missing install tags
• Contributors: Felix Messmer

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_dev\' of https://github.com/ipa320/cob_control into kinetic_dev
• [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
• Contributors: Benjamin Maidel, ipa-fxm

0.6.15 (2017-07-18)

• handle continuous joints in ControllerInterfaceJointStates
• handle continuous joints in position_limiter
• harmonize createTask
• remove unused TaskDamping
• remove ConstraintParamFactory
• harmonize ConstraintParams
• set default values for damping methods
• own param struct for unified solver
• New singularity and joint limit avoidance method (#149)
  • first implementation of new jla solver using sigmoid functions
  • first version of new JLA method working
  • last fix to new JLA solver
  • correction in parameter used in sigmoid damping method
  • new solver added and new jla method added to be tested and selected according to performance comparison
  • fix to rqt_reconfigure parameters
  • final correction to new solver and new weighting method
  • prints removed
  • square trajectory added
  • wln with sigmoid solver corrected
  • final corrections
  • final corrections to the solver formula
  • created unified singularity and joint limit avoidance class... other classes moved
  • restoring wln previous version of the solver
  • saturation block added in unified solver just for testing
  • saturation block corrected
  • checking new solver and constraints
  • corrected new test script for the new method
  • removed test files and corrected identation
  • defining GPM solver as default
  • fix identation
  • comment corrected
  • identation fix in contraint solver factory
  • finalize PR
• cleanup leftovers
• pluginlib approach for controller interfaces
• add toggle for enforce_input_limits, implement both All and Individual Cartesian limiting
• combine LimiterXContainer
• limiter fixed
• Limiter Base class removed
• pull request changes
• final implementation of cartesian limiter
• bug fixed in class limiter container
• bug fixed in class limiter container
• cartesian limits introduced
• remove sympy implementation and dependency
• use xacro --inorder
• final roslint
• applied changes request in the pull request review
• damping factor for old method replaced by a diagonal matrix
• last corretions to pull request
• corrections added according to last Felix comments
• fixed changes done by rebase
• prints removed for new damping function calculations
• new method based of sigmoid function to singularity avoidance implemented
• bug fix in least square calculation when changing to return matrix
• starting to roslint some packages
• manually fix changelog
• Contributors: Bruno Brito, ipa-fxm

0.6.14 (2016-10-10)

0.6.13 (2016-10-10)

0.6.12 (2016-10-10)

• cob_twist_controller: fix add_dependencies calls
• Contributors: ipa-mig

0.6.11 (2016-04-01)

• reduce output
• outsource obstacle_distance messages
• remove support for interpol_position controller
• debug output
• use joint_group_velocity_controller for torso extension
• verify position limit scaling factor
• fix typo
• fix lookat: do not look backwards
• missing sympy dependency
• add test publisher twist sine
• avoid unecessary service calls to obstacle_distance
• fix collision avoidance dimension segfault
• infinitesiamal threshold for BaseActive
• wider limits
• enforce position limit
• add test_forward_command_sine_node
• cleanup period
• Update test_trajectory_command_sine_node.cpp
• adjust lookat extension limits
• more compact parameter structure
• make lookat linear axis configurable - axis and offset
• cleanup roslint
• add trajectory_command test node
• introduce cfg-parameter integrator_smoothing
• add debug publisher to simpson_integration
• rename member variables
• add q_dot_ik smoothing, adjust parameters
• add timing members for period
• Merge pull request #79 from ipa-fxm/fix_visualize_twist_marker visualize twist marker
• proper reset for ControllerInterfaceJointStates
• visualize angular twist
• fix visualize twist marker
• Fixed the TwistDirection Marker
• use undamped jacobian in nullspace projection
• minor renaming
• roslint cob_twist_controller
• final roslint
• add TimeStamp to trajectory_interface
• also print limiting joint
• prepare remapping for twist_mux in cartesian controller
• add test nodes for SimpsonIntegrator
• reset moving average
• simplify API
• use new API in SimpsonIntegrator
• test new MovingAverage API
• all new MovingAverage API
• saver initialization of weighting
• test scripts for moving_average
• use interpolated position controller
• add more debug scripts
• consider various roslint/styleguide hints
• apply change in parameter name
• fix frame_id in visualizeTwist
• lookat extension fully implemented
• more experiments with reset condition in simpson_integrator
• minor improvement of comment
• fix order of doxygen comment
• fix whitespaces
• move simpson integration to new util class
• prepare structure for lookat
• temporarily disable CA when being used together with KinematicExtensions
• less output
• more consistent code structure for constraints
• remove obsolete return values
• use extension_ratio for all extensions
• wip: consider kinematic_extensions within limiters and constraints - still unstable
• chain not needed in limiters
• resolve hardcoded cycle time in prediction
• proper generation of Jacobian for kinematic extension from urdf
• more generic naming in extension_dof, transform extension_jacobian in extension_urdf
• merge with demo updates
• fix BASE_COMPENSATION
• Fixed order of transform and service registration. Additionally added more time to wait for service availability.
• fix dimension of jac_extension
• merge and roslint
• roslint cob_twist_controller
• draft towards kinematic_extension for COB_TORSO based on URDF
• prepare structure for additional kinematic_extensions
• revert acceleration_limiters impl, class structure only, further consistency changes and cleanup
• progress with acceleration limiters, still wip
• implement acceleration limiter
• pass down whole JointStates structure
• better reset condition
• fix limiter reset, fix service existence, consistency
• prepare structure for acceleration limiters
• temporary cleanup
• do FK_Vel in GPM for debugging
• further debug gpm and self-motion
• add solveTwist duration output
• visualization marker for desired twist direction
• renaming: hardware_interface to controller_interface
• fixes for positional interfaces
• waitForExistence of registerLink service
• wip: use undamped inverse in gpm
• allow to calculate un-damped, un-truncated inverse jacobian
• update octave scripts for testing variants
• working on marker publisher
• working on log output
• update trajectory_hardware_interface
• introduce HardwareInterfacePositionBase, reset Integration on out-dated data
• handle base_compensation in kinematic_extension enum
• renaming frame - link
• Merge branch \'indigo_dev\' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface
• • Commented output lines. - Renamed frame_of_interest to link_of_interest.

• Merge branch \'indigo_dev\' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface

• implement JointTrajectory hardware_interface for twist_controller

• Contributors: Felix Messmer, Marco Bezzon, ipa-fxm, ipa-fxm-cm, ipa-fxm-mb

0.6.10 (2015-08-31)

0.6.9 (2015-08-25)

• authors in package xml
• Corrections integrated from PR: [WIP] Finalizing/Testing of TwistController features (#51). Renaming from frame_to_collision to link_to_collision.
• • Fixed bug in constraint implementation: sign was \"-\" but must be \"+\".
  • Moved scripts.
• • Added more text to package.xml
  • Moved scripts to subfolder test.

• Added new script for raw3-1.

• In config file avoided setting of 0 tolerance (DIV/0!). Removed additional output.

• • Made some changes for test. - Decreased Duration time for markers. - Corrected pose update for self collision check frames. - Added new scripts.

• Added comment to activation buffer.

• boost revision

• Merge branch \'test_of_feature\' into test_of_feature_with_adapt_frame_tracker

• Overwritten numerical_filtering with false.

• Some preparations for test: IMarker smaller, Alpha settings, More scripts. Default value for Frame Tracker params.

• • Added parameters for activation buffer and critical threshold of CA and JLA constraints.
  • Removed method getActivationThreshold because parameter can be used directly.
  • Packed thresholds into struct.
  • Commented some outputs.
• • 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

• 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.

• • 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

• • Removed unnecessary commented code.
• • Added handling of no exception: Save files.
• • Avoided drawing of self-collision frames -> can be done via rviz.
  • Increased CA activation threshold to 0.25 m

• Deleted unnecessary files.

• • Renamed dynamics_tasks_readjust_solver -> stack_of_tasks_solver. Therefore adapted corresponding cfg and data_types.
  • Created Python package for data collection.

• fix HardwareInterfacePosition

• consider PR review comments

• • Removed experiment solvers for task stacks. Now the dynamic_tasks_readjust_solver works better than them.
  • adapted MakeLists and config and data_types.
• • 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

• updates from ipa-fxm-mb

• Implemented Python package to set dyn_reconfigure params. Made test_move_around_torus use of this class.

• cleanup

• sort dependencies

• Created test, Removed commends, Removed output.

• 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.

• Separated JLA and CA constraints from constraint_impl.h

• • Corrected JLA constraint. - Added weighting of GPM prio dependent. - Added buffer region for CA constraint to become active.

• Made movinge average generic for other data types. Using moving average for CA constraint.

• simplify simpson

• • 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.

• check for frame existence

• allow target_frame to be configured via private param, beautifying

• Further tests and adaptations for test.

• Added generated const from .cfg; Styling

• re-implementation of trajectory_publisher in c++

• Added Python package to collect data and write collected data into a file.

• Fixed parameter initialization.

• fix parameter initialization + add max_vel_base to cfg

• add topic name to ROS_WARN output

• add doxygen documentation

• add example launch file

• publish joint_states in separate thread

• adding JointStateInterface

• add base_marker to publisher

• generalize scripts, minor changes

• Corrected default values in cfg.

• 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

• 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.

• Integration. To avoid controller jump into critical region again introduced in cart vel damping.

• Fixed DIV/0 error in distance cost function calculation.

• Reassignment of corrected values to twist_controller_params_ instance.

• 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.

• Moved TaskStackController to parameters list. Added new damping factor for constraints (to avoid algo. singularities). Added new inverse for testing.

• Separated constraints from solvers and vice versa. Added new parameters. Prettified GUI.

• Added a Simple Python node to publish a line strip to see the real trajectory and the desired one.

• Made CA possible with active base. Bug fixing of solvers in case of base active. Corrected JLA constraints.

• more style unification

• parameter initialization

• enforceLimits now in inv_diff_kin_solver

• enum for KinematicExtension and styling for constants

• consider remarks from CodeReview: mainly styling and beautify

• hardware_interface_type renaming

• re-arrange Parameter structs

• Merge branch \'task_stack_prio_feature\' of github.com:ipa-fxm-mb/cob_control into multi_feature_merge

• 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

• KinematicExtensionBaseActive works

• WIP: further cleanup and introduction of abstract helper class

• WIP: kinematic_extension replaces base_active

• Refactored task stack solvers. Fixed creation of solver instances. Removed unnecessary test code.

• beautify and code-review

• remove auto generatable doc

• merge with ipa320

• generic interface types

• 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.

• Added task stack controller.

• Corrected dist calclation for GPM CA

• Added stack of tasks and Macijewski task prio CA.

• 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.

• Merge with IPA320 Indigo Dev.

• removed bug

• merged

• Added moving average filter and simpson integration formula

• New octave script to check whether split of vector v into separate tasks works.

• Removed rad variable.

• Fixed issue in WLN_JLA: Removed conversion to radian.

• Made code more CppStyleGuide ROS compliant.

• Made corrections proposed in https://github.com/ipa320/cob_control/pull/38#

• • Renaming: AugmentedSolver -> InverseDifferentialKinematicsSolver
  • Merged cob_twist_controller_data_types and augmented_solver_data_types -> cob_twist_controller_data_types
  • Renamings: According to ROS C++ Style Guide.
• • 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.

• Added missing modules

• • 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.

• test

• Renaming

• Added collision avoidance feature. Solve with GPM. Made usage of cob_collision_object_publisher via ROS service.

• Added possibility to calculate self motion magnitude dependent from joint velocity limits.

• Removed tracking error publisher / subscriber and removed additional p gain for PD-Control (already done in FrameTracker with PID controller)

• Solved merge conflicts

• WIP:

  • Added new solver feature: GradientProjectionMethod.
  • Added cost function for: JLA, JLA_MID, CA
  • Added kappa parameter to set GPM scaling.
  • Added builder to support build of multiple constraints.

• Added new implementation for KDL::ChainFkSolverPos_recursive. Provides storage of joint positions.

• Beautify. Corresponding to PR https://github.com/ipa-fxm-mb/cob_control/pull/1.

• renamed parameters and functions

• Generischer Ansatz

• Low Isotropic Damping

• • Added constraints for JLA and JLA mid.
  • Added calculation for step size.
• • Prepared the implementation of a builder to create a set of constraints.
  • Decoupled constraints generation from solver class GPM (now they could be used for other methods as well).
  • Removed asParams from constraints. Only necessary for constraintParams.
• • Added a possibility to implement constraint functions.
  • Added a registration mechanism to the solver (registration in a priorized set).
  • Added a parameter to select it
• • Renamed pseudoinverse_calculation -> inverse_jacobian_calculation
• • Decoupled pseudoinverse calculation from constraint_solvers. That allows new implementations for pseudoinverse calculations. Additionally it allows to calculate pseudoinverses of further Jacobians (e.g. for constraints)
  • Removed unnecessary _base.cpp files and removed them from CMakeLists.txt.
• • Refactored parametrization of damping -> damping method is now given to solver for extensions (like numerical filtering)
  • Considered damping method NONE in case of no damping for solving IK.
• • Added a publisher for the tracking errors to send them to cob_twist_controller
  • Added a subscriber to collect the errors and put them to the solver.
  • Added a parameter to set the p gain. If 0.0 old behavior is active (default value).

• Contributors: ipa-fxm, ipa-fxm-cm, ipa-fxm-mb

• add missing include

• Contributors: ipa-fxm

• missing dependency

• Contributors: ipa-fxm

0.6.8 (2015-06-17)

0.6.7 (2015-06-17)

• reduce output in limiters
• restructure namespaces for parameters of cartesian controllers
• • Instead of creating png create eps.
• • Added new damping method None
  • Added enum value to select damping None
  • Removed pure pointer usage and added boost::shared_ptr usage (which provides pointer management / ensure deletion of objects)
  • Removed unused includes
  • Renamings
• • Removed unnecessary ROS_INFO_STREAMs
  • Removed temporary variables for test code
• • Added debug code
  • Removed truncation
  • Removed unused members
• • Grouped limiters in one .h and one .cpp
  • Grouped damping_methods in one .h and one .cpp
  • Removed separate factories. Made SolverFactory generic by introducing template parameters.
  • Made usage of boost::shared_ptr instead of own pointer handling.
  • Adapted CMakeLists.txt according to changes.
  • Split parameter enforce_limits into enforce_pos_limits and enforce_vel_limits
• • To enforce limits for joint positions and velocities created new classes.
  • Additionally added parameter for keeping direction or not when enforcing limits.
  • Therefore removed normalize_velocities and enforce_limits from cob_twist_controller. Instead the new limiter_container is used.
  • Added new struct to provide cob_twist_controller params.
  • Removed debug code.
• • Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
  • Added script to check pseudo-inverse calculation.
• • Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
  • Added an octave script to verify the statement above.
• • Removed unnecessary file
• • Added doxygen comments
  • Activated graphviz for doc generation
  • Added const to method signatures to avoid undesired JntArray-Data change.
• • moved enfore_limits from augmented_solver to cob_twist_controller

  - Added a base case WeightedLeastNorm to constraint solvers Instantiated it acts like an unconstraint solver.

  • Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver
  • WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting
• • moved enfore_limits from augmented_solver to cob_twist_controller

  - Added a base case WeightedLeastNorm to constraint solvers Instantiated it acts like an unconstraint solver.

  • Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver
  • WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting only. -> Solving is done by the WLN Solver.

• Added validation outputs. Added comments for doxygen generation. Did some renaming.

• Made restructured changes active. Corrected some implementation. Activated both old and new implementation for comparison and testing purposes.

• Made usages of ConstraintSolverFactoryBuilder:

  • Creates DampingMethod
  • Creates ConstraintSolver
  • Executes calculation of joint velocities.

• Split up augmented_solver.cpp into different constraint solvers: JLA constraints and unconstraint.

• • Restructured augmented_solver.
  • Renamed class augmented_solver to AugmentedSolver.
  • Created damping_methods as classes to ease creation of dampings (and new ones).

• add comments

• cleanup

• beautify CMakeLists

• using correct base topic names

• fix debug node

• remove obsolete code for parameter initialization, enforce_limits behaviour

• revision, simplification and cleanup

• remove obsolete files

• twist controller analyser

• last update

• update working frame_tracker

• base compensation test

• temporary adjust base topics

• reduce output

• twist series test script

• use component specific joint_states topic

• no output

• merge

• cleaning up

• new publisher and transformation names

• merge with cm

• added commentary, tolerance as dynamic reconfigure, modified enforce_limits

• Debug functions

• merge with cm

• Merge branch \'indigo_dev\' of https://github.com/ipa320/cob_control into fm_cm_merged_new

• last commit before merging

• new rqt_features

• delete all test packages

• delete all test packages

• fixed errors from merging

• merged from ipa-fxm-cm

• beautify, added commentary, limit enforcing and dynamic reconfigure for JLA

• new debug twist

• add tracking_action

• test

• new features

• test

• Merge branch \'merge_fm_cm\' of github.com:ipa-fxm-fm/cob_control into cm_dev

• changes

• Corrected errors from merging

• First merge attempt

• Joint Limit Avoidance added and cleaned up

• Added publisher for the pose

• Modified for the new structure

• cleaned up again

• Cleaned up

• New features

• a commit a day keeps the doctor away

• Contributors: Christian Ehrmann, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm, ipa-fxm-mb

0.6.6 (2014-12-18)

• remove dep to cob_srvs and std_srvs
• Contributors: Florian Weisshardt

0.6.5 (2014-12-18)

• Merge branch \'indigo_dev\' into indigo_release_candidate
• add dep
• Contributors: Florian Weisshardt

0.6.4 (2014-12-16)

0.6.3 (2014-12-16)

• add dependency to nav_msgs
• Contributors: Florian Weisshardt

0.6.2 (2014-12-15)

• Merge branch \'indigo_dev\' into indigo_release_candidate
• fix twist_control dimensions for any-DoF
• merge with fxm-cm
• merge with fxm-fm
• cleaning up
• branch with features for merging
• topics according to new structure
• remove brics_actuator
• more topic renaming according to new structure
• renaming debug topic
• adapt namespaces for cartesian_controller to new structure
• dynamic reconfigure
• revision of cob_twist_controller
• merge_cm
• merge_fm
• temporary commit
• temporary commit
• changes in initialization
• restructure test_twist publisher scripts
• fix twist_controller to be usable without base again
• able to add base DoFs to Jacobian solver - first tests - needs more debugging
• null-space syncMM
• add test script for twist_stamped
• able to apply twists wrt to various coordinate system orientations
• cleanup, restructure and fix
• missing include
• merge with fxm-fm + clean up
• add twist publisher script
• add output publisher
• cleaning up
• beautify
• Add fixes provided by \@ipa-fxm-fm
• fix controller and add damping
• add twist publisher script
• add output publisher
• Add fixes provided by \@ipa-fxm-fm
• Contributors: Florian Weisshardt, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm

0.6.1 (2014-09-22)

0.5.4 (2014-08-26)

• fix dependency-hell on multiple cores
• moved cob_twist_controller
• Contributors: Alexander Bubeck, ipa-fxm