YP-Spur (YamabicoProject-Spur)

Purpose

YP-Spur is a mobile robot motion control software with coordinate frame based commands.

Getting Started

Learn to use YP-Spur at the documentation pages.

Install

$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install

License

• YP-Spur is available under the MIT License.
  • Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
• YP-Spur has been forked from SH-Spur. The original SH-Spur source code is available under the MIT License.
  • Copyright (c) 2008 Eijiro Takeuchi and Intelligent Robot Laboratory Univ. of Tsukuba, All rights reserved.

Contributing

Please post issues and/or pull-requests on our GitHub repository.

Changelog for YP-Spur

1.22.2 (2024-04-11)

• Fix system time jump threshold (#200)
• Contributors: Atsushi Watanabe

1.22.1 (2024-04-10)

• Detect time jump by monotonic time (#197)
• Contributors: Atsushi Watanabe

1.22.0 (2024-04-02)

• Add option to stop control on system time jump (#191)
• Fix clock_nanosleep existence checks (#193)
• Contributors: Atsushi Watanabe

1.21.0 (2024-03-22)

• Update release-candidate workflow (#189)
• Simulate motion on --without-device mode (#185)
• Format source files by clang-format (#187)
• Update assets to v0.6.1 (#184)
• Update assets to v0.6.0 (#183)
• Update assets to v0.4.1 (#182)
• Update assets to v0.4.0 (#181)
• Update assets to v0.3.4 (#178)
• Update assets to v0.2.0 (#176)
• Add missing readline_include_dirs (#175)
• Contributors: Atsushi Watanabe, Tobias Fischer

1.20.2 (2021-03-17)

• Revert \"Fix timestamp estimation (#169)\" (#172)
• Contributors: Atsushi Watanabe

1.20.1 (2021-03-10)

• Fix timestamp estimation (#169)
• Update assets to v0.1.4 (#164)
• Migrate to GitHub Actions (#166)
• Update static_assert availability check (#163)
• Add static_assert to enum value overlap (#162)
• Fix version in CMakeLists (#161)
• Fix git directory on release-candidate (#159)
• Automatically update version in CMakeLists (#157)
• Update assets to v0.1.2 (#156)
• Update assets to v0.0.10 (#154)
• Contributors: Atsushi Watanabe

1.20.0 (2020-10-27)

• Add VOLT_MIN param (#151)
• Contributors: Atsushi Watanabe

1.19.0 (2020-08-28)

• Support online device dump (#147)
• Update assets to v0.0.9 (#146)
• Use snprintf instead of sprintf (#145)
• Contributors: Atsushi Watanabe

1.18.2 (2020-07-31)

• Fallback message if unable to get git revision (#142)
• Contributors: Atsushi Watanabe

1.18.1 (2020-04-07)

• Update assets to v0.0.8 (#139)
• Fix without-device mode (#136)
• Add CI job for Ubuntu Focal (#135)
• Contributors: Atsushi Watanabe

1.18.0 (2020-03-21)

• Accumulate packet lost count (#132)
• Fix torque offset gear factor (#131)
• Fix typo in error message (#130)
• Add DEVICE_TIMEOUT parameter and show packet lost error (#129)
• Fix --no-yp-protocol mode (#128)
• Add option to ping chained devices (#127)
• Update assets to v0.0.7 (#126)
• Update assets to v0.0.6 (#125)
• Migrate changelog format to rst (#124)
• Contributors: Atsushi Watanabe

1.17.1

• Show driver error only if the state is changed (#122)
• Trap SIGINT only in odometry receive loop (#120)

1.17.0

• Fix Spur_freeze command (#117)
• Bump protocol version to 11:05 (#116)
• Add LR cutoff frequence parameter (#115)
• Add hall signal delay parameter (#114)

1.16.0

• Fix deployment (#108)
• Fix serial communication error handling (#107)
• Fix ENCODER_DENOMINATOR handling to make param units corresponding to hardware (#104)
• Reorganize console output (#105)
• Generate and install pkg-config file (#101)
• Fix protocol version send target (#106)
• Fix initial absolute encoder value handling (#103)
• Correct invalid links (#99)
• Expose the communication functions (#97)
• Fix deceleration factor during over speed (#95)
• Update motor error ID (#93)
• Add flag to check availability of get_device_error_state (#92)
• Fix joint state initialization (#91)
• Receive error status of connected device (#89)
• Stricten parameter error check (#88)
• Add encoder denominator parameter (#86)
• Enable build on semantic version tag (#83)
• Modernize coding styles (#10)

1.15.3

• Fix finding readline in cmake (#75)
• Enable matrix build on Travis (#77)
• Run test on Ubuntu Bionic (#76)
• Fix reading last parameter line without newline (#74)
• Fix joint command names in manpage (#71)
• Update manpage of libypspur (#70)

1.15.2

• Add exec_depend to catkin for ROS build (#64)

1.15.1

• Fix buildtool_depend in ROS manifest (#62)
• Fix ROS package manifest (#61)
• Add run_depend to catkin in ROS package manifest (#60)
• Fix deployment (#59)
• Workaround for CERT_UNTRUSTED error in npm (#58)

1.15.0

• Fix project version handling both on cmake 2 and 3 (#55)
• Fix odometry timestamp (#54)
• Find libreadline on cmake (#52)
• Update install document for CMake version. (#51)
• Move wiki into doc directory. (#50)
• Support catkin build system. (#47)
• Fix process termination. (#49)
• Fix behavior on CMake3 (CMP0048) (#48)
• Reduce minimum cmake version to 2.8.3. (#44)
• Add build test on xenial and trusty. (#46)
• Define INCLUDE_DIRS in package config file. (#41)
• Add manifest and update cmake config. (#40)
• Use CMake. (#39)
• Remove B-Loco firmware. (#38)
• Support encoder index signal. (#37)
• fixes serial output to be raw mode (#36)
• fixes joint control feature switch definitions (#34)
• adds simultaneous joint angle and velocity control command (#33)
• bundles latest ypspur-gui on win32 binary deployment (#32)
• adds get_joint_torque command (#29)
• deploys windows binary on release (#31)
• adds MinGW build test (#30)
• adds travis setting (#28)
• fixes TORQUE_FINENESS related error messages (#25)
• updates readme (#24)
• Supported negative gear ratio (this changes kinematics without affecting motor control)
• Use long long int instead of int64_t
• Added parameter to divide encoder count for high resolution encoder
• Retry odometry receive during parameter update
• Added parameter range validation
• Fixed a bug that the motion_control bypasses vel/acc limit
• Added sleep in motor parameter transmission for old devices
• Changed order of the board version warning message
• Increased protocol version
• Removed debug output of inertia parameters
• Updated warnings about board version
• Added 64-bit windows support
• Fixed a bug that the robot sometimes doesn\'t move by stop_line
• Fixed a bug that ignores L_C1 parameter
• Fixed motor id of vehicle control using VEHICLE_CONTROL parameter
• Fixed update flags of default parameters
• Fixed COUNT_REV parameter update flag
• Support more than two motors
• Add encoder type and velocity control cycle parameter
• Added AC motor phase offset parameter
• Fixed thread termination problem
• Fixed return value of Spur_get_pos
• Fixed include path for sh2 firmware build
• configure.ac