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CHANGELOG.md

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Changelog

This file documents notable changes to this project done before September 2023. For changes after that date, plase refers to the release notes of each release at https://github.com/robotology/whole-body-estimators/releases .

[0.10.0] - 2023-09-11

Changed

  • Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (#172).
  • Update WBD launch files (#173).

[0.9.1] - 2023-02-09

Fixed

  • fix attaching both IMU and FTs as MAS network wrappers (#167).
  • Implement VirtualAnalogClient::getAxes and VirtualAnalogRemapper::getAxes to fix compilation against YARP 3.8 (#159, #160).
  • Fix compilation against YARP 3.8 (#166).

[0.9.0] - 2022-08-31

Changed

  • Implement vectors collection and use it for streaming netExternalWrenches instead of yarp::os::Bottle. (See !155).

Fixed

  • Fix a bug introduced in 0.8.0, due to which estimation of external forces and internal torques when FT sensors are read from sensors that expose an IAnalogSensor interface was not working (#157, #156).

[0.8.0] - 2022-08-23

Added

  • Introduce MAS Read for FT sensors in WholeBodyDynamics device (#153).

[0.7.0] - 2022-05-27

Added

  • Add a steady-state Kalman filter with a null jerk model for the joint velocity and acceleration estimation in WholeBodyDynamics. (See !139).

Changed

  • Updated the yarp rpc command calibStandingWithJetsiRonCubMk1 to be calibStandingWithJetsiRonCub, in order to perform calibStanding for the models iRonCub-Mk1 and iRonCub-Mk1_1 (See !136).
  • Switched default carrier of genericSensorClient device from udp to fast_tcp to avoid delays up to 0.25 seconds when a receiver is interrupted (#145).

Fixed

  • Fixed the possibility of deadlock in detachAll method in wholebodydynamics and baseEstimatorV1. This deadlock could lead to freeze during closing of the yarprobotinterface or the Gazebo simulator if the gazebo_yarp_robotinterface plugin was used (#146).
  • Fixed YARP deprecations. (See !151)

[0.6.1] - 2022-01-03

Fixed

  • Fixed compilation against YARP 3.6 (#135).

[0.6.0] - 2021-12-03

Added

  • Add a parameter to set the periodicity of the WholeBodyDynamics thread (See !130).

Fixed

  • Fixed joint acceleration filtering (See !124).
  • Fixed wholeBodyDynamics device when loaded by the gazebo_yarp_robotinterface Gazebo plugin !126.
  • Switch to generate YARP idl files at every build to fix compatibility with YARP master !131.

Changed

  • Always enable compilation of devices (See !115)
  • Migrate from RateThread to PeriodicThread in WholeBodyDynamics device (See !130).

[0.5.1] - 2021-07-12

Added

  • Added Conda-based Continuous Integration job (See !117 and !118).

Fixed

  • Fixed compilation with iDynTree 4 (See !116).

[0.5.0] - 2021-05-14

Added

  • Added a yarp rpc command calibStandingWithJetsiRonCubMk1 that performs calibStanding for iRonCub-Mk1 model/robot when the jets are ON and on idle thrust. (See !113).
  • Added an optional config parameter list of fixed joints additionalConsideredFixedJoints being omitted by the URDF model parser but are needed to be considered in the joint list. (See !109).
  • Added some debug prints to detect where the wholeBodyDynamics device hangs at startup. (See !106).
  • Added possibility to publish net external wrenches. (See !111).

Fixed

  • Fixed the configuration files to run wholeBodyDynamics with iCubGazeboV3. (See !107).
  • Avoid to use getOutputCount before broadcasting data. (See !108).

[0.4.0] - 2021-02-11

Added

  • Add HW_USE_MAS_IMU feature in wholeBodyDynamics device to enable the use YARP's Multiple Analog Sensor interface based IMU measurements. (See !99)

Fixed

  • Fixed bug in opening the wholeBodyDynamics device while using the assume_fixed parameter in the configuration instead of imuFrameName. (See !93).
  • Fixed parsing checkTemperatureEvery_seconds parameter in wholeBodyDynamics device. (See !93).
  • Fix yarp::os::ConstString deprecations (See !94)

[0.3.0] - 2020-11-09

Added

  • Added 'startWithZeroFTSensorOffsets' option when passed starts the WBD device with zero offsets for FT sensors, bypassing the offset calibration. (See !72).
  • Added support for compensating temperature in Force/Torque sensors readings and for specify user offline offset. (See !45)
  • Added useSkinForContacts option flag to enable/disable the usage of tactile skin sensor information for updating contact points and relevant information. (See !88)
  • Added wholeBodyDynamics configuration files for iCubGazeboV3. (See !90)

[0.2.1] - 2020-04-08

Fixed

  • Fixed launch-wholebodydynamics-*.xml configuration files in order to properly open wholebodydynamics device without silently skipping it. (See !56).
  • Fixed a few YARP related and iDynTree related deprecations in wholebodydynamics, genericSensorClient and baseEstimatorV1. (See !58).
  • Fixed a bug in wholebodydynamics related to hard-coded cut-off frequency parameters used for low-pass filtering measurements. (See !63).

Added

  • Added the possibility in wholeBodyDynamics device to set the assumptions about the external wrench type (full wrenches, pure forces or pure forces with known direction) from the configuration file. (See!48).
  • Github Workflows to check compilation on ubuntu-latest, macOS-latest and windows-latest. (See !47).
  • Disabled fail-fast strategy for CI/C++ builds to not stop checks completely when one of the build fails (See !52).
  • Added caching of source-based dependencies for CI/C++ builds to speed up the build workflows (See !54).

[0.2.0] - 2020-03-11

  • Adding the following YARP devices:
  • genericSensorClient
  • virtualAnalogClient
  • virtualAnalogRemapper
  • wholeBodyDynamics

[0.1.0] - 2020-03-11

Initial release of whole-body-estimators, containing the following YARP devices:

  • baseEstimatorV1