Changelog for package cob_undercarriage_ctrl

0.7.17 (2024-04-30)

0.7.16 (2024-02-20)

0.7.15 (2023-11-06)

0.7.14 (2022-11-17)

0.7.13 (2022-07-29)

0.7.12 (2022-03-15)

0.7.11 (2022-01-12)

0.7.10 (2021-12-23)

0.7.9 (2021-11-26)

0.7.8 (2021-10-19)

0.7.7 (2021-08-02)

0.7.6 (2021-05-10)

0.7.5 (2021-04-06)

• Merge pull request #418 from fmessmer/fix_catkin_lint fix catkin_lint
• fix catkin_lint
• Contributors: Felix Messmer, fmessmer

0.7.4 (2020-10-14)

• Merge pull request #417 from fmessmer/test_noetic test noetic
• Bump CMake version to avoid CMP0048 warning
• Merge pull request #414 from nlamprian/nlamprian/fix-frame-ids Remove leading slashes from frame ids
• Remove leading slashes from frame ids
• Contributors: Felix Messmer, Nick Lamprianidis, fmessmer

0.7.3 (2020-03-18)

0.7.2 (2020-03-18)

• Merge pull request #408 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Contributors: Felix Messmer, fmessmer

0.7.1 (2019-11-07)

0.7.0 (2019-08-06)

• Merge pull request #396 from HannesBachter/indigo_dev 0.6.15
• Contributors: Felix Messmer

0.6.15 (2019-07-17)

0.6.14 (2019-06-07)

0.6.13 (2019-03-14)

0.6.12 (2018-07-21)

0.6.11 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #341 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.10 (2017-07-24)

0.6.9 (2017-07-18)

• manually fix changelog
• Contributors: ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

• fix frame id for odometry
• Contributors: ipa-cob4-2

0.6.5 (2015-08-31)

0.6.4 (2015-08-25)

• install tags for libraries
• do not install headers in executable-only packages
• explicit dependency to boost
• remove obsolete autogenerated mainpage.dox files
• remove trailing whitespaces
• add_dependencies EXPORTED_TARGETS
• migrate to package format 2
• sort dependencies
• critically review dependencies
• Contributors: ipa-fxm

0.6.3 (2015-06-17)

• now checking for NaN-values in Twist message
• Contributors: Thorsten Kannacher

0.6.2 (2014-12-15)

0.6.1 (2014-09-17)

0.6.0 (2014-09-09)

0.5.7 (2014-08-26)

• Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
• 0.5.6
• update changelog
• move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
• Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
• cob_undercarriage_ctrl: add parameter to disable tf broadcast
• updated default values for maximal velocities in ucar_ctrl_watchdog
• fixed indentation cob_undercarriage_ctrl.cpp
• updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
• added missing absolute value functions to velocity watchdog in undercarriage_control
• beautification of some outputs in undercarriage control
• corrected some typos and minor bugs
• split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
• first draft for undercarriage_control velocity-watchdog. not tested yet.
• Cleaned up cob_driver with reduced deps to compile on indigo
• fix install tags
• remove deprecated launch files in cob_driver and add nodes to cob_robots
• Contributors: Alexander Bubeck, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.6 (2014-08-26)

• Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
• move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
• Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
• cob_undercarriage_ctrl: add parameter to disable tf broadcast
• updated default values for maximal velocities in ucar_ctrl_watchdog
• fixed indentation cob_undercarriage_ctrl.cpp
• updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
• added missing absolute value functions to velocity watchdog in undercarriage_control
• beautification of some outputs in undercarriage control
• corrected some typos and minor bugs
• split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
• first draft for undercarriage_control velocity-watchdog. not tested yet.
• Cleaned up cob_driver with reduced deps to compile on indigo
• fix install tags
• remove deprecated launch files in cob_driver and add nodes to cob_robots
• Contributors: Alexander Bubeck, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.3 (2014-03-31)

• removed obsoledte OpenCV reference
• install tags
• Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

• some install tag updates
• merge with groovy_dev
• cherry-pick
• removed a lot of code related to packages not available in hydro anymore
• bugfix flexible odometry calculation based on number of wheels
• edited odometry calculation so that we are now flexible on how many wheels we use
• odometry calculation for 3 wheels
• upstream changes
• cob_undercarriage_ctrl: expose param for watchdog timeout
• Installation stuff
• Some small dependency tweaks.
• cleaned up CMakeLists and added install directives
• further modifications for catkin, now everything is compiling and linking
• futher include and linkpath modifications
• compiling but still some linker errors
• Second catkinization push
• First catkinization, still need to update some CMakeLists.txt
• cleanup in base_drive_chain and undercarriage_ctrl
• integration of cob_base_velocity_smoother, moved here from cob_navigation
• activated tf publishing out of undercarriagectrl
• cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
• cob_undercarriage: removed odom_tf that conflicts with robot-pose-ekf in simulation
• Merge remote branch 'origin-ipa320/master' into automerge
• fixed calculation error in transform
• changed odometry frames
• undercarriage adaptions
• cob_undercarriage: reverted changes that made recover impossible -> cpc-pk/ucar
• cob_undercarriage CMakeList fixed
• moved cob_undercarriage Trike ctrl to cob3_intern
• cob_undercarriage_ctrl: changed odometry frames
• cob_undercarriage_ctrl: odom in simulation looks great, in reality not
• cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
• cob_undercarriage_ctrl: corrected tf-name error
• cob_undercarriage_ctrl: now using timer callback instead of ros::Rate
• cob_undercarriage SIM: corrected wheel geometry parameters of PLatform.ini for simulation modell -> much improved odometry in simulation
• cob_undercarriage_ctrl: improved odometry, doubled odom-rate and doing midpoint integration now
• cob_undercarriage_ctrl: experiments on odometry
• merge
• undercarriage_nt: addings in ini-Files
• comment unused code
• removed compiler warnings
• removed dependency to cob_msgs
• rearranging cob_camera_sensors launch files
• cob_base: communication between controller and driver now directly using joint_command and state topics with pr2::JointTrajectoryControllerState msgs
• added is_moving service for undercarriage_ctrl
• Adaptions in base_drive_chain and undercarriage_ctrl for global /joint_states
• Adapted base_drive_chain to communicate with controller using joint names and not only numbers anymore
• camera settings added for head
• Some adaptions for version 2 of tricycle testplatform
• changed position of topic
• added state topic to base controller
• Merge branch 'master' of https://github.com/ipa-fmw/cob_driver into review-fmw
• additional undercarriage ctrl in simulation
• moved service
• moved Emergency stop message
• modified init_test
• changed trigger service
• cob_base_drive_chain DEBUG. GetJointStates Service replaced through cyclical publishing topic in cob_base_drive_chain
• cleanup in cob_driver
• Moved hard-coded lines for head_axis_homing from CanDriveHarmonica.cpp into ElmoCtrl.cpp. Removed debugger in base_drive_chain.launch and undercarriage_ctrl.launch
• added joint_state_combined to cob_bringup, small device modifications on cob3-1
• Starting base_drive_chain and undercarriage_ctrl with GDB-debugger
• added testing and diag to sdh and base
• some fake covariance
• added watchdog to base controller
• restructured base_controller
• base_drive_chain now can be reverted after EMStop
• base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
• Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
• added indirect dependencies (relayboard node, base_drive_chain node) to manifest of under_carriage_ctrlr
• merged with cpc-pk: added ctrl for tricycle-kinematic; specification of limit in CanDriveHarmonica can now be specified via Inifile; base_drive_chain can be operated on variable numbers of motors (lesser or equal to eight); variable setting of path to inifile for UndercarriageCtrlGeom; debugged relaysboard - reads Bus now nonblocking
• removed hard coded entry of camera-axis limit switch in CanDriveHarmonica
• Direct Kinematics, publish effort option in base_drive_chain
• Running in teleop_joystick mode, need small adaptions to EncIncrementsOffset of steering motor
• Controller working for cob3_5 using standart ROS cob3 components
• Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
• Working on cob_undercarriage3_5
• update documentation and deleted tf broadcaster
• modifications for navigation with ucar
• debugging odometry calc
• merging with cpc
• implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
• Deployment of undercarriage controller debugged and finished: launch-script cob_ucar_joy starts up relayboard, base_drive_chain and controller; also remaps topics and services in correct namespaces. Debugging of controller itself is work in progress: simplified and removed old stuff - code compiles - controller runs but appaerently has some bugs -> may not yet be used
• Merge branch 'review-cpc'
• updated simulation files
• debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
• cleanup in cob_driver
• renamed pltf_command topic in ucarctrl
• debugged ucar controller and base drive chain node - still not running
• Implemented base controller - cob_undercarriage_ctrl - based on principle of rigid body motion; controller is not yet tested on hardware; moreover, not yet used: parameterserver for initializing controller, urdf-file to associate joints; also removed some bugs from base_drive_chain
• added files for undercarriage controller
• Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, fmw-jk, ipa-cpc, ipa-fmw, ipa-frm, ipa-fxm, ipa-mig, ipa-srd