Changelog for package hebi_cpp_api

3.12.3 (2025-02-10)

• Fixed CMakeLists.txt to include proper C API files
• Contributors: Hariharan Ravichandran

3.12.2 (2025-02-07)

• Update HEBI C++ API to 3.12.2
• Contributors: Hariharan Ravichandran

3.10.1 (2025-02-03)

• Fix colcon build with symlink error
• Fix symlink for major version
• Contributors: David Conner, Hariharan Ravichandran

3.10.0 (2024-08-30)

• Features/Changes:
  • add dynamics comp + doubled joint plugins
  • add getters/setters for impedance control plugin
  • use doubles instead of floats in arm plugins (minor change in experimental arm class)
  • parse "user data" values as same parameter types as for plugins instead of saving as strings (minor change in experimental arm class)
  • store absolute path for robot config file withing RobotConfig structure
  • try to load/set default gains when creating arm from config
  • update C API to 2.15.0 from 2.13.0
  • provides ubuntu 20.04 compatibility again
  • adds support for debug symbols in win X64 build
  • lookup searches localhost by default to work with private imitation groups from Scope
  • multiple log files per second now supported when using default file name (note -- naming convention changed from hh.mm.ss to hh-mm-ss.ms to match MATLAB API convention)
  • prevent certain large info messages returned from modules from getting dropped
  • added control strategy 5 to ControlStrategy enum
  • update minimum required CMake to 3.5 to reduce cmake warnings from newer versions
  • added helpers to optionally create Arm and MobileIO objects using an existing Lookup object
  • access "Runtime Data" in "Extra" info packets, including number of seconds a module has been on and/or commanded. Note -- requires firmware support, and count will only include time for module since first updating to firmware with this feature.
  • MobileIO class now has "sendLayout" and "sendLayoutBuffer" functions, allowing layout configurations to be sent to MobileIO devices
• Bugfixes:
  • added const attribute for a number of getters
  • small refactoring for readability, minor cleanup and formatting
  • update calls for C IK functions from internally deprecated ones to equivalent new ones
  • address a number of compiler warnings, while making warning checking more strict for GCC and clang
  • ignore warnings given by included Eigen library
• Contributors: Matthew Tesch, Aditya Nair

3.9.0 (2024-07-10)

• Bumped up the HEBI CPP API Version to 3.9.0 (changelogs for previous version are available at https://github.com/HebiRobotics/HEBI-Core-Cpp/releases)
• Initial release of HEBI API for ROS 2
• Contributors: Chris Bollinger, Hariharan Ravichandran

3.2.0 (2020-4-3)

• Added experimental high-level "Arm API" to enable easier control of robotic arm systems
• Contributors: Chris Bollinger

3.1.1 (2019-12-16)

• Fix incorrect behavior when getting and setting IO pin values
• Contributors: Matthew Tesch

3.1.0 (2019-12-02)

• Reduce conversion needs by adding (deprecated) overloads for:
  • getJ
  • getJacobians
  • getFK
  • getForwardKinematics
  • getFrameCount
• Fix multiple definition error

(from 3.0.0)

• Robot Model:
  • Added "input frame" type for forward kinematics operations
  • Added end effector support (custom and parallel gripper types)
  • Added R-series support (actuator, link, bracket, and end effector)
  • Added options for link input + output type

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