0.5.3 (2014-03-31)

• removed obsoledte OpenCV reference
• install tags
• Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

• some install tag updates
• merge with groovy_dev
• cherry-pick
• removed a lot of code related to packages not available in hydro anymore
• bugfix flexible odometry calculation based on number of wheels
• edited odometry calculation so that we are now flexible on how many wheels we use
• odometry calculation for 3 wheels
• upstream changes
• cob_undercarriage_ctrl: expose param for watchdog timeout
• Installation stuff
• Some small dependency tweaks.
• cleaned up CMakeLists and added install directives
• further modifications for catkin, now everything is compiling and linking
• futher include and linkpath modifications
• compiling but still some linker errors
• Second catkinization push
• First catkinization, still need to update some CMakeLists.txt
• cleanup in base_drive_chain and undercarriage_ctrl
• integration of cob_base_velocity_smoother, moved here from cob_navigation
• activated tf publishing out of undercarriagectrl
• cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
• cob_undercarriage: removed odom_tf that conflicts with robot-pose-ekf in simulation
• Merge remote branch 'origin-ipa320/master' into automerge
• fixed calculation error in transform
• changed odometry frames
• undercarriage adaptions
• cob_undercarriage: reverted changes that made recover impossible -> cpc-pk/ucar
• cob_undercarriage CMakeList fixed
• moved cob_undercarriage Trike ctrl to cob3_intern
• cob_undercarriage_ctrl: changed odometry frames
• cob_undercarriage_ctrl: odom in simulation looks great, in reality not
• cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
• cob_undercarriage_ctrl: corrected tf-name error
• cob_undercarriage_ctrl: now using timer callback instead of ros::Rate
• cob_undercarriage SIM: corrected wheel geometry parameters of PLatform.ini for simulation modell -> much improved odometry in simulation
• cob_undercarriage_ctrl: improved odometry, doubled odom-rate and doing midpoint integration now
• cob_undercarriage_ctrl: experiments on odometry
• merge
• undercarriage_nt: addings in ini-Files
• comment unused code
• removed compiler warnings
• removed dependency to cob_msgs
• rearranging cob_camera_sensors launch files
• cob_base: communication between controller and driver now directly using joint_command and state topics with pr2::JointTrajectoryControllerState msgs
• added is_moving service for undercarriage_ctrl
• Adaptions in base_drive_chain and undercarriage_ctrl for global /joint_states
• Adapted base_drive_chain to communicate with controller using joint names and not only numbers anymore
• camera settings added for head
• Some adaptions for version 2 of tricycle testplatform
• changed position of topic
• added state topic to base controller
• Merge branch 'master' of https://github.com/ipa-fmw/cob_driver into review-fmw
• additional undercarriage ctrl in simulation
• moved service
• moved Emergency stop message
• modified init_test
• changed trigger service
• cob_base_drive_chain DEBUG. GetJointStates Service replaced through cyclical publishing topic in cob_base_drive_chain
• cleanup in cob_driver
• Moved hard-coded lines for head_axis_homing from CanDriveHarmonica.cpp into ElmoCtrl.cpp. Removed debugger in base_drive_chain.launch and undercarriage_ctrl.launch
• added joint_state_combined to cob_bringup, small device modifications on cob3-1
• Starting base_drive_chain and undercarriage_ctrl with GDB-debugger
• added testing and diag to sdh and base
• some fake covariance
• added watchdog to base controller
• restructured base_controller
• base_drive_chain now can be reverted after EMStop
• base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
• Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
• added indirect dependencies (relayboard node, base_drive_chain node) to manifest of under_carriage_ctrlr
• merged with cpc-pk: added ctrl for tricycle-kinematic; specification of limit in CanDriveHarmonica can now be specified via Inifile; base_drive_chain can be operated on variable numbers of motors (lesser or equal to eight); variable setting of path to inifile for UndercarriageCtrlGeom; debugged relaysboard - reads Bus now nonblocking
• removed hard coded entry of camera-axis limit switch in CanDriveHarmonica
• Direct Kinematics, publish effort option in base_drive_chain
• Running in teleop_joystick mode, need small adaptions to EncIncrementsOffset of steering motor
• Controller working for cob3_5 using standart ROS cob3 components
• Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
• Working on cob_undercarriage3_5
• update documentation and deleted tf broadcaster
• modifications for navigation with ucar
• debugging odometry calc
• merging with cpc
• implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
• Deployment of undercarriage controller debugged and finished: launch-script cob_ucar_joy starts up relayboard, base_drive_chain and controller; also remaps topics and services in correct namespaces. Debugging of controller itself is work in progress: simplified and removed old stuff - code compiles - controller runs but appaerently has some bugs -> may not yet be used
• Merge branch 'review-cpc'
• updated simulation files
• debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
• cleanup in cob_driver
• renamed pltf_command topic in ucarctrl
• debugged ucar controller and base drive chain node - still not running
• Implemented base controller - cob_undercarriage_ctrl - based on principle of rigid body motion; controller is not yet tested on hardware; moreover, not yet used: parameterserver for initializing controller, urdf-file to associate joints; also removed some bugs from base_drive_chain
• added files for undercarriage controller
• Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, fmw-jk, ipa-cpc, ipa-fmw, ipa-frm, ipa-fxm, ipa-mig, ipa-srd