Changelog for package tiago_controller_configuration

4.17.0 (2025-04-09)

• Standarized gravity comp launcher
• Added command interface param needed for new version of gravity comp
• Contributors: oscarmartinez

4.16.0 (2025-04-03)

4.15.1 (2025-03-28)

4.15.0 (2025-03-25)

• Remove imu broadcaster dependency
• Contributors: Noel Jimenez

4.14.1 (2025-03-18)

• Remove unused imu broadcaster
• Contributors: Noel Jimenez

4.14.0 (2025-02-24)

4.13.0 (2025-01-22)

4.12.0 (2025-01-20)

4.11.1 (2025-01-10)

4.11.0 (2024-12-16)

4.10.0 (2024-11-29)

• lunch the gravity comp controller only if not a public simulation and if Tiago has a arm
• Contributors: matteovillani

4.9.0 (2024-11-21)

4.8.0 (2024-11-21)

4.7.1 (2024-11-08)

4.7.0 (2024-11-06)

• Set update_rate for joint_state_broadcaster
• Contributors: Noel Jimenez

4.6.0 (2024-09-18)

4.5.0 (2024-08-29)

• Use launch file directly from base controller_configuration
• Don't load gravity compensation in public sim
• Contributors: David ter Kuile

4.4.0 (2024-08-22)

• Fix flake8
• Add gravity compensation support for all grippers + improve launch file
• Fix rebase issues + add arm_motor_model to module
• Add dependencies and parameter for motor_model
• Add gravity compensation controller as default controller loaded inactive
• gravity compensation controller loaded in the default controllers
• Contributors: Aina, ileniaperrella, thomas.peyrucain

4.3.0 (2024-08-07)

• Use controller_type from the controllers config
• Contributors: Noel Jimenez

4.2.21 (2024-08-05)

• enable odom tf for pmb2 for public sim
• Contributors: David ter Kuile

4.2.20 (2024-07-29)

• Adding open_loop_control variable to head controller
• Contributors: vivianamorlando

4.2.19 (2024-07-25)

• Change parameter to arm_type
• Contributors: thomas.peyrucain

4.2.18 (2024-07-09)

• Add warning for pal_module_cmake not found
• Contributors: Noel Jimenez

4.2.17 (2024-07-08)

• change module name into 10_*
• change the bases config file for their packages config files
• Contributors: Aina

4.2.16 (2024-06-28)

• Add imu sensor broadcaster
• Contributors: davidterkuile

4.2.15 (2024-06-26)

• Merge branch 'dtk/move-robot-args' into 'humble-devel' Change imports for robot arguments See merge request robots/tiago_robot!297
• Change imports for robot arguments
• Contributors: David ter Kuile, davidterkuile

4.2.14 (2024-06-25)

• Merge branch 'dtk/fix/base-urdf' into 'humble-devel' Dtk/fix/base urdf See merge request robots/tiago_robot!295
• Add imu gazebo plugin and imu sensor broadcaster
• Move ros2 control gazebo
• Merge branch 'fix/remove_pmb2_extra_joints' into 'humble-devel' Remove casters and suspension from joint_state_broadcaster See merge request robots/tiago_robot!296
• Remove casters and suspension from joint_state_broadcaster
• Contributors: David ter Kuile, Jordan Palacios, Noel Jimenez, davidterkuile

4.2.13 (2024-06-05)

• Merge branch 'feat/motions' into 'humble-devel' pre-recorded_motions See merge request robots/tiago_robot!292
• fix launch ee_controller when no-ft-sensor
• Contributors: Aina, davidterkuile

4.2.12 (2024-05-10)

4.2.11 (2024-05-09)

4.2.10 (2024-05-09)

4.2.9 (2024-05-07)

4.2.8 (2024-04-30)

• Merge branch 'omm/fix/urdf_complete_std' into 'humble-devel' URDF std See merge request robots/tiago_robot!278
• Suggested changed
• Module, joy config and restored support for tiago dual
• Omni related checks and files
• Suggested changes
• Launch files moved to TIAGo family standard
• Merge branch 'tpe/add_omni_controller' into 'humble-devel' Add missing dependency for the omni_base controller See merge request robots/tiago_robot!279
• Add missing dependency for the omni_base controller
• Contributors: Oscar, davidterkuile, thomas.peyrucain

4.2.7 (2024-04-22)

• Merge branch 'sgg/feat/base_type_omni_base' into 'humble-devel' Sgg/feat/base type omni base See merge request robots/tiago_robot!273
• Fix whitespace
• mobile_base_controller.launch.py Handle is_public_sim
• Add param to ctor
• Add use_sim parameter
• Refactor avoiding if to reduce code complexity
• Update new robot argument method Update new robot argument Update new robot argument Remove blank lines
• Launch joint_state_broadcaster depending on the base_type Fix syntax Remove redundant check Remove redundant check
• Fix syntax
• Fix quotes in comparison
• Parameterized mobile base type
• Hardcoded omni_base controller
• Contributors: Sergi Garcia, davidterkuile

4.2.6 (2024-04-16)

• Merge branch 'feat/ros2-pipelines' into 'humble-devel' added public sim config for mobile base controller See merge request robots/tiago_robot!274
• cosmetic
• added public sim config for mobile base controller
• Contributors: andreacapodacqua, antoniobrandi

4.2.5 (2024-04-10)

• Add ros2controlcli dependency
• Contributors: Noel Jimenez

4.2.4 (2024-03-06)

4.2.3 (2024-02-28)

4.2.2 (2024-02-02)

4.2.1 (2024-01-31)

4.2.0 (2024-01-31)

• update license year
• added impedance controller configuration
• update gravity compensation controller config
• Remove unused type parameter from controllers configuration
• Contributors: Noel Jimenez, Sai Kishor Kothakota

4.1.2 (2024-01-19)

4.1.1 (2024-01-19)

• adding the config files needed for robotiq
• modifying where to find the urdfs for robotiq
• updating the necessary dependencies for robotiq
• Contributors: Aina Irisarri

4.1.0 (2024-01-18)

• Merge branch 'ros2-tiago-dual' into 'humble-devel' Ros2 tiago dual See merge request robots/tiago_robot!240
• Remove unused param
• Contributors: David ter Kuile, davidterkuile

4.0.28 (2023-12-22)

• adding pal_hey5 as dependency
• removing temporal exception for hey5 gripper
• relocate the pal-hey5 configuration and launch files
• Contributors: Aina Irisarri

4.0.27 (2023-12-18)

4.0.26 (2023-12-14)

4.0.25 (2023-12-12)

• Launch gripper from its controller_configuration package
• Contributors: Aina Irisarri

4.0.24 (2023-12-12)

• Bump module names
• Contributors: Noel Jimenez

4.0.23 (2023-12-11)

• Remove unused files
• Contributors: Noel Jimenez

4.0.22 (2023-11-22)

• Set 'finishes: True' for default_controllers module
• Update cmake_minimum_required version to 3.8
• Cleanup repository
• Contributors: Noel Jimenez

4.0.21 (2023-11-15)

4.0.20 (2023-11-14)

• Add website tag
• Rename description and controller modules
• Contributors: Noel Jimenez

4.0.19 (2023-11-13)

4.0.18 (2023-11-07)

• Split bringup module
• Contributors: Noel Jimenez

4.0.17 (2023-10-19)

• Use wheels calibration if exists
• Contributors: Noel Jimenez

4.0.16 (2023-09-18)

4.0.15 (2023-09-04)

4.0.14 (2023-07-20)

• Rename FT Sensor
• Fix ft_sensor_controller frame_id parameter
• Add controller for the FT sensor
• Contributors: Noel Jimenez

4.0.13 (2023-07-11)

• Remove schunk wsg option
• Launch controllers depending on robot arguments
• Contributors: Noel Jimenez

4.0.12 (2023-07-05)

• Remove pal flags dependency
• Contributors: Noel Jimenez

4.0.11 (2023-06-28)

• fix controllers launcher when there is no end_effector
• Contributors: Noel Jimenez

4.0.10 (2023-06-14)

4.0.9 (2023-05-11)

• remove ros1 commented dependencies
• comment controller dependency
• flake8 fixes
• add conditional dependency and do not launch gravity compensation controller as default
• Spawn gravity compensation controller inactive
• Set gravity compensation controller parameters
• Add gravity compensation controller
• Contributors: Adria Roig, Noel Jimenez

4.0.8 (2023-05-11)

4.0.7 (2023-04-28)

• set sim time for gazebo controller_manager
• Contributors: Noel Jimenez

4.0.6 (2023-04-17)

4.0.5 (2023-03-06)

• Merge branch 'rm_use_sim_time' into 'humble-devel' remove use_sim_time parameter See merge request robots/tiago_robot!191
• remove use_sim_time parameter
• Contributors: Jordan Palacios, Noel Jimenez

4.0.4 (2023-03-02)

• Merge branch 'fix_controllers_config' into 'humble-devel' remove initial / from controllers config See merge request robots/tiago_robot!190
• remove initial / from controllers config
• Contributors: Jordan Palacios, Noel Jimenez

4.0.3 (2023-02-22)

4.0.2 (2023-02-08)

4.0.1 (2022-11-10)

• Merge branch 'update_license' into 'humble-devel' Update license See merge request robots/tiago_robot!180
• update license
• Merge branch 'fix_dependency' into 'humble-devel' fix buildtool dependency See merge request robots/tiago_robot!179
• fix buildtool dependency
• Contributors: Jordan Palacios, Noel Jimenez

4.0.0 (2022-11-08)

• Merge branch 'cleanup' into 'humble-devel' Cleanup package.xml files and rm duplicated launcher See merge request robots/tiago_robot!174
• rm duplicated launcher
• update package.xml deps
• Merge branch 'fix_substitution' into 'humble-devel' fix end effector substitution See merge request robots/tiago_robot!169
• fix end effector substitution
• Merge branch 'default_robot_name' into 'humble-devel' Add missing default robot name See merge request robots/tiago_robot!168
• add missing default robot name
• Merge branch 'update_copyright' into 'humble-devel' update copyright and license See merge request robots/tiago_robot!167
• update copyright and license
• Merge branch 'cleanup' into 'humble-devel' Cleanup See merge request robots/tiago_robot!165
• rm ros1 launchers
• Merge branch 'update_maintainers' into 'humble-devel' Update maintainers See merge request robots/tiago_robot!163
• update maintainers
• Merge branch 'linters' into 'humble-devel' Linters See merge request robots/tiago_robot!159
• rm print
• linters
• Merge branch 'launch_refactor' into 'humble-devel' launch files refactor See merge request robots/tiago_robot!158
• launch files refactor
• Merge branch 'tiago_launcher' into 'galactic-devel' Tiago launcher See merge request robots/tiago_robot!150
• add todo
• Merge branch 'pal-hey5-ros2' into 'foxy-devel' pal-hey5 launch files and config See merge request robots/tiago_robot!130
• use tiago_launch_utils
• add pal-gripper launch
• update default controllers launch file
• pal-hey5 launch files and config
• Add basic tests to tiago_controller_configuration
• Add extra joints
• Add use_sim_time to controllers as a workaround for https://github.com/ros-controls/ros2_control/issues/325
• Added new parameters required for joint trajectory controllers Also, enabled default controllers
• Lower controller manager to 100hz
• Using joint_state_broadcaster instead of controller
• Increased controller manager update rate to match gazebo's
• Added twist_mux to the tiago bringup mobile_base_controller now uses the twist unstamped topic instead
• Use correct namespacing for parameters
• Using controller_manager launch_utils
• Support for pal-gripper end effector
• Now uses launch_pal utils
• Added wrist to arm_controller
• Added arm_controller, no wrists
• Added head_controller
• Added torso_controller
• Added default_controllers with mobile_base and joint_state controllers
• Added gazebo_controller_manager_cfg.yaml
• tiago_controller_configuration readded and migrated to ros2
• Ignoring tiago_bringup and tiago_controller_configuration for now
• Contributors: Jordan Palacios, Noel Jimenez, Noel Jimenez Garcia, Victor Lopez, cescfolch, victor

2.0.55 (2021-01-15)

• Merge branch 'gravity_compensation_fix' into 'erbium-devel' Update arm_3_link weight for gravity compensation See merge request robots/tiago_robot!120
• Update motor torque constant arm_5_joint for gravity_compensation
• Contributors: Adria Roig, victor

2.0.54 (2020-09-08)

• Merge branch 'new-endoscopic-dual' of gitlab:robots/tiago_robot into new-endoscopic-dual
• Contributors: daniellopez

2.0.53 (2020-07-30)

2.0.52 (2020-07-27)

• Merge branch 'safety_parameters' into 'erbium-devel' Update default_safety_parameters.yaml with new changes in the safety of local joint control See merge request robots/tiago_robot!117
• Update default_safety_parameters.yaml with new changes in the safety of local joint control
• Contributors: saikishor, victor

2.0.51 (2020-07-15)

2.0.50 (2020-07-10)

2.0.49 (2020-07-01)

2.0.48 (2020-06-10)

2.0.47 (2020-05-15)

2.0.46 (2020-05-13)

2.0.45 (2020-05-12)

2.0.44 (2020-05-12)

2.0.43 (2020-05-08)

2.0.42 (2020-05-07)

2.0.41 (2020-05-07)

2.0.40 (2020-05-06)

2.0.39 (2020-04-21)

• Merge branch 'custom-ee' into 'erbium-devel' Allow using custom end-effector See merge request robots/tiago_robot!102
• Add parameter files for custom EE
• Contributors: davidfernandez, victor

2.0.38 (2020-02-27)

2.0.37 (2020-02-14)

2.0.36 (2020-01-28)

• Merge branch 'specifics_file' into 'erbium-devel' added missing actuator specifics file See merge request robots/tiago_robot!100
• added missing actuator specifics file
• Contributors: Sai Kishor Kothakota, Victor Lopez

2.0.35 (2019-11-06)

2.0.34 (2019-10-30)

2.0.33 (2019-10-21)

2.0.32 (2019-10-16)

2.0.31 (2019-10-10)

2.0.30 (2019-10-02)

2.0.29 (2019-09-27)

2.0.28 (2019-09-25)

2.0.27 (2019-09-17)

• added missing effort control parameters for arm joint 4
• Contributors: Hilario Tome

2.0.26 (2019-07-18)

2.0.25 (2019-07-09)

• Merge branch 'add-wsg-controller-dependency' into 'erbium-devel' Add missing wsg controller config See merge request robots/tiago_robot!89
• Add missing wsg controller config
• Contributors: Victor Lopez

2.0.24 (2019-07-08)

2.0.23 (2019-06-07)

• Merge branch 'joint_traj_bug' into 'erbium-devel' Fixes bjoin trajectory bug in torso controller See merge request robots/tiago_robot!87
• Fixes bjoin trajectory bug in torso controller
• Contributors: Adria Roig, Victor Lopez

2.0.22 (2019-05-21)

2.0.21 (2019-05-13)

2.0.20 (2019-05-09)

• Merge branch 'no_wrist_gravity' into 'erbium-devel' Add gravity no wrist for new wrist model See merge request robots/tiago_robot!81
• Update motor_torque_constant for the joints of the wrist
• Add gravity no wrist for new wrist model
• Contributors: Adria Roig, Victor Lopez

2.0.19 (2019-05-02)

2.0.18 (2019-04-23)

2.0.17 (2019-04-12)

2.0.16 (2019-04-12)

2.0.15 (2019-04-05)

• Merge branch 'wrist_current_control' into 'erbium-devel' Add missing effort config files See merge request robots/tiago_robot!70
• Add missing effort config files
• Contributors: Adria Roig, Hilario Tome

2.0.14 (2019-04-03)

2.0.13 (2019-03-28)

2.0.12 (2019-03-26)

• Merge branch 'incorrect_arm_constraints' into 'erbium-devel' Fix wrong constraints on arm joint traj controllers See merge request robots/tiago_robot!73
• Fix wrong constraints on arm joint traj controllers
• Contributors: Victor Lopez

2.0.11 (2019-03-26)

2.0.10 (2019-03-26)

2.0.9 (2019-03-22)

2.0.8 (2019-03-15)

• Merge branch 'minor-fixes' into 'erbium-devel' Minor fixes See merge request robots/tiago_robot!72
• Remove unuesd home_gripper script
• Contributors: Victor Lopez

2.0.7 (2019-03-14)

• Merge branch 'actuator_simulation' into 'erbium-devel' added more paramater to actuators See merge request robots/tiago_robot!71
• removed empty spaces
• fixed reduction ratio
• added more paramater to actuators
• Contributors: Hilario Tome

2.0.6 (2019-03-12)

2.0.5 (2019-02-26)

2.0.4 (2019-02-08)

2.0.3 (2019-02-05)

2.0.2 (2018-12-21)

2.0.1 (2018-12-20)

2.0.0 (2018-12-19)

• Merge branch 'specifics-refactor' into 'erbium-devel' Generate automatically play_motion and approach_planner configs See merge request robots/tiago_robot!65
• Remove deprecated files
• fixes
• Create configurations of gravity_compensation_with_controller_wrist
• More refactor
• Add head and migrate controller launch
• 1.0.23
• changelog
• Contributors: Procópio Stein, Victor Lopez

1.0.23 (2018-12-05)

1.0.22 (2018-12-04)

• Merge branch 'as_disable_safety' into 'erbium-devel' Disable joint safety by default. See merge request robots/tiago_robot!64
• Disable joint safety by default.
• Contributors: alexandersherikov

1.0.21 (2018-11-29)

• Merge branch 'as_safety' into 'erbium-devel' New joint safety parameters, add missing exec dependencies See merge request robots/tiago_robot!63
• Add dependency on pal_local_joint_control.
• New joint safety parameters, add missing exec dependencies
• Contributors: alexandersherikov

1.0.20 (2018-11-19)

1.0.19 (2018-10-23)

1.0.18 (2018-09-19)

1.0.17 (2018-09-17)

1.0.16 (2018-08-06)

1.0.15 (2018-08-06)

1.0.14 (2018-08-01)

1.0.13 (2018-08-01)

1.0.12 (2018-07-30)

1.0.11 (2018-07-13)

• Add missing simple_grasping_action dependency for hey5 launch
• Contributors: Victor Lopez

1.0.10 (2018-07-10)

• Merge branch 'no_control' into 'erbium-devel' No control See merge request robots/tiago_robot!52
• Add no control local params for torso
• Add no control local config files
• Contributors: Adrià Roig, Hilario Tome

1.0.9 (2018-05-24)

• Merge branch 'model_utils' into 'erbium-devel' refactoring local joint control See merge request robots/tiago_robot!51
• working gravity compensation on robot after pal_local_joint control refactor
• refactoring local joint control
• Contributors: Hilario Tome

1.0.8 (2018-05-02)

1.0.7 (2018-05-02)

• Merge branch 'iron-config' into 'erbium-devel' Remove arm controllers for Tiago Iron See merge request robots/tiago_robot!49
• Remove arm controllers for Tiago Iron
• Merge branch 'remove-chessboard' into 'erbium-devel' Remove chessboard, it's a separate entity now See merge request robots/tiago_robot!47
• Remove chessboard, it's a separate entity now
• Contributors: Hilario Tome, Victor Lopez, davidfernandez

1.0.6 (2018-04-10)

• Merge branch 'extra-joints-torque-state-controller' into 'erbium-devel' Use extra joints on torque_state_controller See merge request robots/tiago_robot!41
• Use extra joints on torque_state_controller
• Contributors: Hilario Tome, Victor Lopez

1.0.5 (2018-03-29)

• Add new extra joints
• Contributors: Jordan Palacios

1.0.4 (2018-03-26)

• Merge branch 'recover-chessboard-tiago' into 'erbium-devel' Recover chessboard tiago See merge request robots/tiago_robot!38
• Revert "remove unused files" This reverts commit e50aca81d55736b99e108bb90d681862be39c028.
• Merge branch 'wbc-erbium' into 'erbium-devel' WBC erbium See merge request robots/tiago_robot!37
• Remove unnecessary launch file
• Contributors: Adria Roig, Jordi Pages, Victor Lopez

1.0.3 (2018-03-16)

• fixed typo in local joint control, commented out rpc
• Contributors: Hilario Tome

1.0.2 (2018-03-06)

• Publish_cmd to true, and deprecate publish_wheel_data
• Contributors: Victor Lopez

1.0.1 (2018-02-22)

• Add gravity_compensation_controller as run depend
• Contributors: Adria Roig

1.0.0 (2018-02-21)

• changed scaling gains to one for direct effort control
• Fix gravity compensation issues
• added more configuration files for local joint control
• Contributors: Adria Roig, Hilario Tome

0.0.46 (2018-02-20)

• added extra wbc controller to mode blacklist and started to add local joint control configuration files
• removed wbc loading from titanium and steel controller launch files
• Contributors: Hilario Tome

0.0.45 (2018-02-08)

0.0.44 (2018-02-06)

0.0.43 (2018-01-24)

• include launch file now in pal_gripper package
• remove no longer needed installation rule
• remove unused files
• Contributors: Jordi Pages

0.0.42 (2017-12-01)

• added publish odom option in controller yaml
• Contributors: Procópio Stein

0.0.41 (2017-10-31)

0.0.40 (2017-10-27)

0.0.39 (2017-07-12)

0.0.38 (2017-05-16)

0.0.37 (2017-05-05)

0.0.36 (2017-04-24)

• Allow multiple Tiago to use the navigation stack
• Contributors: davidfernandez

0.0.35 (2016-12-21)

0.0.34 (2016-11-06)

0.0.33 (2016-11-04)

• launch current_limit_controller of the gripper
• Contributors: Jordi Pages

0.0.32 (2016-10-26)

0.0.31 (2016-10-14)

• 0.0.30
• Update changelog
• Add missing dependencies
• modify package description
• add myself as maintainer
• add myself as maintainer
• 0.0.29
• Update changelog
• 0.0.28
• Update changelog
• 0.0.27
• Update changelog
• Removing shadow hand controllers
• 0.0.26
• Update changelog
• 0.0.25
• Update changelog
• 0.0.24
• changelog
• 0.0.23
• Update changelog
• 0.0.22
• Update changelog
• 0.0.21
• Update changelog
• Add imu_controller.launch
• 0.0.20
• Update changelog
• Remove wbc dependencies
• 0.0.19
• Update changelog
• Final values after testing in real robot
• Update gravity compensation parameters to new format
• 0.0.18
• changelog
• enable preserve_turning_radius
• enable wheel_data pub in mobile_base_controller
• 0.0.17
• changelog
• 0.0.16
• Update changelog
• Fix typo/copypaste on adding torso1 joint and 2 joint instead of gripper jointS
• 0.0.15
• Update changelog
• Add fake parallel gripper controller launch with only one joint
• 0.0.14
• Update changelog
• 0.0.13
• Update changelog
• Contributors: Jeremie Deray, Jordi Pages, Sam Pfeiffer, Victor Lopez

0.0.30 (2016-10-13)

• Add missing dependencies
• modify package description
• add myself as maintainer
• add myself as maintainer
• Contributors: Jordi Pages, Victor Lopez

0.0.29 (2016-07-28)

0.0.28 (2016-07-28)

0.0.27 (2016-07-19)

• Removing shadow hand controllers
• Contributors: Sam Pfeiffer

0.0.26 (2016-07-08)

0.0.25 (2016-06-28)

0.0.24 (2016-06-15)

0.0.23 (2016-06-15)

0.0.22 (2016-06-15)

0.0.21 (2016-06-15)

• Add imu_controller.launch
• Contributors: Victor Lopez

0.0.20 (2016-06-14)

• Remove wbc dependencies
• Contributors: Victor Lopez

0.0.19 (2016-06-14)

• Final values after testing in real robot
• Update gravity compensation parameters to new format
• Contributors: Sam Pfeiffer

0.0.18 (2016-06-14)

• enable preserve_turning_radius
• enable wheel_data pub in mobile_base_controller
• Contributors: Jeremie Deray

0.0.17 (2016-06-13)

0.0.16 (2016-06-13)

• Fix typo/copypaste on adding torso1 joint and 2 joint instead of gripper jointS
• Contributors: Sam Pfeiffer

0.0.15 (2016-06-13)

• Add fake parallel gripper controller launch with only one joint
• Contributors: Sam Pfeiffer

0.0.14 (2016-06-10)

0.0.13 (2016-06-10)

0.0.12 (2016-06-07)

• Separating launch of joint_state_controller and force_torque_controller
• Contributors: Sam Pfeiffer

0.0.11 (2016-06-03)

• Remove extra joints as the casters are not published anymore
• 0.0.10
• Updated changelog
• 0.0.9
• Update changelog
• 0.0.8
• Update changelog
• Add missing wbc dependencies to tiago_controller_configuration refs #13364
• 0.0.7
• Update changelog
• 0.0.6
• Update changelogs
• Fixed wheel sleeping in gazebo, and added head transmission (This can break the real robot if a blacklist is not implemented in pal_ros_control
• 0.0.5
• Update changelog
• Adding new defaults for TIAGo Current limit controller for the wheels. Soften on effort values config for a specific robot.
• launch Diff drive controller multipliers
• Removing specific current controller for wrist as the full arm one works already
• Compensate low force of joint 2
• tune parameters
• fix sign of arm 4
• Add gravity and wbc controllers load on boot
• remove hey5 hand from URDF
• Add extra_joints spec for joint state controller Only in hardware deployments: Load set of extra joints to be published as dummies by the joint_state_controller.
• Update finger pids so the hand works with PAL Hand plugin in gazebo
• Update with all joints until the grav compensation is fixed Add wrist controller
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Hilario Tome, Jeremie Deray, Sam Pfeiffer, Victor Lopez, jordi.pages@pal-robotics.com

0.0.4 (2015-05-20)

• Add current limit controller
• Fix name of spawner
• Add hand controller launch and config file
• Remove ref to hand
• Gravity compensation config & launch file
• Adding tiago_shadow, tiago with shadow lite hand (! no dependency on shadow packages on purpose!)
• Add install rule for home_gripper.py
• Contributors: Bence Magyar

0.0.3 (2015-04-15)

0.0.2 (2015-04-15)

• Move play_motion to controller launch files, update dependencies accordingly
• Add iron to startup
• Reduce acceleration limits
• add missing components for titanium+chessboard
• Add script to automatically open gripper
• Changes to fix finger shaking. Much better than before.
• Use steel and titanium tiago, launch files parametrized
• Change gripper joint names and add pids
• Change finger names and add controller + first gains
• Finetune of pids to prevent head shaking
• Add separate joint traj cont constraints for head
• Contributors: Bence Magyar, Enrique Fernandez, Jordi Pages

0.0.1 (2015-01-20)

• Load joint traj controllers config file
• Install config and launch files
• Add 0 pids for fingers
• Update inertias, Center of Mass' and related pids Hand commented until it works on gazebo
• Add tiago_bringup and tiago_controller_configuration
• Contributors: Bence Magyar