Changelog for package khi_robot_control

1.4.0 (2023-04-28)

• Merge pull request #72 from matsui-hiro/rs025n_realrobot Add rs025n for real robot
• update libkrnx(2.3.5)
• Merge pull request #70 from Yuki-cpp/fix-potential-race-condition Create the ControllerManager after robot was openned
• Create the ControllerManager after robot was openned In the khi_robot_control node, the ControllerManager (cm) provides services that require controller classes to be loaded beforehand. This loading occurs when we open the robot. By moving the creation of the ControllerManager after we try to open the robot, we ensure that no race condition will occur and that the controllers will always be loaded when the provided services are called.
• Merge pull request #65 from 5567655/master Bugfix: contLimitCheck ERROR. Fix for Issue #64
• Bugfix: contLimitCheck ERROR Function that is supposed to return boolean doesn't return anything
• Contributors: 5567655, Hiroki Matsui, HirokiTakami, Leo Ghafari, matsui-hiro

1.3.0 (2022-04-05)

• Add rs013n (#50)
  • Add rs013n
  • Update rs013n pkgs
  • Update libkrnx
  • Fixed rs013n_bringup.launch to use xacro
  • Update libkrnx to 2.2.0
  • Modify test program for RS series robots
  • Remove kinetic from travis.yml
• Contributors: Hiroki Matsui

1.2.0 (2021-01-27)

• Merge pull request #43 from d-nakamichi/modify_setting_home_process Modify setting home process
• Modify setting home process
• Merge pull request #38 from d-nakamichi/krnx_mutex_update Update KRNX API processing
• Update KRNX mutex functions
• Merge pull request #36 from d-nakamichi/refactoring Refactoring about khi_robot_control
• Remove robot_name arg
• Fix build problem
• Change args from value to reference
• Refactoring khi_robot_controllers/JointData/KrnxRobotTable/RobotInfo/rtc to khi_robot_param/KhiRobotData/KhiRobotControllerInfo/KhiRobotKrnxRtcData
• Print WARN message when krnx_ExecMon() failed by AS
• Modify switch changing process
• Simplify activate() timeout process
• Don't execute deactivete() when deleted
• Merge pull request #35 from d-nakamichi/read_velocity Travis test bugfix
• robot_control: correct read(..)/write(..) overrides. (#33) * robot_control: correct read(..)/write(..) overrides. Both time and period are passed as const references. Not by-value.
  • robot_control: mark read(..)/write(..) as override.
• Read joint velocities in simulation mode
• Add joint_limits_interface (#31)
  • Add joint_limits_interface
  • Move joint_limits.yaml from moveit_config to description
  • Modify test messages and conditions in test_position_velocity
  • Change duAro's figure length
  • Move tests from khi_robot_control to khi_robot_test
• Bugfix about getting signal status (#32)
• Merge pull request #29 from d-nakamichi/holded_state Holded state
• Add HOLDED state
• Rearrange state transitions
• Simplify ROS messages
• Apply AS switch setting for all robots (#23)
  • Apply AS switch setting for all robots
  • fixup! Apply AS switch setting for all robots
• Contributors: Daisuke NAKAMICHI, G.A. vd. Hoorn, Hiroki Matsui, d-nakamichi

1.1.2 (2019-06-07)

• Enable to build release package on i386/arm (#19)
  • .travis.yml: add test for i386/armhf/arm64
  • install QEMU for running ARM containers
  • display CMAKE_SYSTEM_NAME variables and so on
  • skip build and test for ARM containers
  • using CMAKE_SYSTEM_PROCESSOR does not returns correct target machine on the docker system. To solve this issue, we use CMAKE_LIBRARY_ARCHITECTURE to find current target machine
  • CMAKE_LIBRARY_ARCHTECTURE is gnueabihf/gnueabi
• Contributors: Kei Okada

1.1.1 (2019-04-25)

• Update a document and error messages (#15)
  • Modify error messages
  • fixup! Modify error messages
  • fixup! Modify error messages
  • fixup! Modify error messages
  • fixup! Modify error messages
• set HOME position separately (#16)
• Split command string in two (#14)
• Merge pull request #13 from d-nakamichi/load_rtc_param Load a temporary RTC param file
• fixup! Load temporary RTC param file
• Merge pull request #12 from d-nakamichi/control_axes_bug_fix Limit AS control axes to ROS driver's control axes
• Load temporary RTC param file
• Limit AS control axes to ROS driver's control axes
• Merge pull request #11 from d-nakamichi/buildfarm_fix Add test_depend
• Add test_depend
• Contributors: Daisuke NAKAMICHI, Hiroki Matsui, nakamichi_d

1.1.0 (2019-04-11)

• robot_control: fix msg deps of main. (#9) Seems to have been remove in #6.
• update travis.yml (#6)
  • update travis.yml
  • rs_desc: add missing install targets.
  • duaro_desc: add missing install targets.
  • rs_gazebo: add missing install targets.
  • duaro_gazebo: add missing install targets.
  • description: pkgs do not run depend on urdf.

  * duaro_desc: add roslaunch testing. Tries to load xacro as parameter. * rs_desc: add roslaunch testing. Tries to load xacros as parameters. * robot_control: use imported target for KRNX binary blob. Avoid setting link directories.

  • robot_control: warn user if CPU arch could not be detected.

  * robot_control: remove redundant dep declaration. 'khi_robot_msgs' is already a build_depend and is another package, so build ordering will already take the dependencies into account. * robot_control: don't install headers. The main library is not exported (by catkin_package(..)), so the headers also don't need to be installed. This also resolves an installation issue: the install(..) statement expects a sub dir called 'khi_robot_control' in the 'include' directory, but that doesn't exist. * robot_control: sort components alphabetically. Make catkin_lint happ(ier).

  • robot_control: fix realtime_tools unconfigured build dep.

  * robot_control: sort source files for robot_client target. Make catkin_lint happ(ier).

  • moveit_cfgs: install scripts dir.
  • rs080n_moveit_config does not have script directory
  • set indigo as allow_failures
  • add test for khi_robot_control/main and libkrnx

  * robot_control: work-around for KRNX lib blob linking issues. Based on suggestion from \@k-okada. Not sure whether this is an actual proper solution, or just a work-around. Systems with stricter ld library path security might not like this.

• Updates to build scripts and manifests (packaging) (#5)
  • rs_desc: add missing install targets.
  • duaro_desc: add missing install targets.
  • rs_gazebo: add missing install targets.
  • duaro_gazebo: add missing install targets.
  • description: pkgs do not run depend on urdf.

  * duaro_desc: add roslaunch testing. Tries to load xacro as parameter. * rs_desc: add roslaunch testing. Tries to load xacros as parameters. * robot_control: use imported target for KRNX binary blob. Avoid setting link directories.

  • robot_control: warn user if CPU arch could not be detected.

  * robot_control: don't install headers. The main library is not exported (by catkin_package()), so the headers also don't need to be installed. This also resolves an installation issue: the install(..) statement expects a sub dir called 'khi_robot_control' in the 'include' directory, but that doesn't exist. * robot_control: sort components alphabetically. Make catkin_lint happ(ier).

  • robot_control: fix realtime_tools unconfigured build dep.

  * robot_control: sort source files for robot_client target. Make catkin_lint happ(ier). * moveit_cfgs: install scripts dir. Except RS080N. * robot_control: work-around for KRNX lib blob linking issues. Based on suggestion from \@k-okada. Not sure whether this is an actual proper solution, or just a work-around. Systems with stricter ld library path security might not like this.

• Contributors: G.A. vd. Hoorn, Kei Okada

1.0.0 (2019-03-28)

• Refactoring
• Update License
• Modify ERROR/RESTART/QUIT state process
• Modify simulation method
• Add KRNX libraries
• Contributors: nakamichi_d, matsui_hiro

0.9.4 (2019-01-25)

• modify deactivation in simulation mode
• bug fix of get_status service
• Contributors: nakamichi_d

0.9.3 (2019-01-21)

• Simple command service
• Bugfix about rs setting files
• Minor coding fix
• Contributors: nakamichi_d, matsui_hiro

0.9.2 (2018-12-27)

• RESTART function
• KHI Command service
• duAro URDF modification
• RS080N
• Unifying RS series URDF/Gazebo into rs_description, rs_gazebo
• Modification of ACTIVATING state
• Modification of QUIT state
• Modification of state definition
• Changing start position "ALL 0 degree" to "Current degree position"
• Contributors: nakamichi_d, matsui_hiro