0.6.8 (2017-07-18)

0.6.7 (2017-03-28)

0.6.6 (2017-03-18)

• do not call handleReadread in HandleLayer::handleRecover this prevents a race condition, it is not needed anyway.
• protect ObjectVariables with mutex
• added test for norm function
• introduced per-controller enforce_limits parameter
• implemented per-joint limits handling
• backport: check if hardware interface matches mode
• Contributors: Mathias Lüdtke

0.6.5 (2016-12-10)

• protect MotorChain setup with RosChain lock
• Merge pull request #153 from ipa-mdl/deprecated-canswitch deprecated canSwitch
• fix for issue #171
• Merge pull request #168 from ipa-mdl/state-filters added filter chain for state values
• do not start driver if filter config fails
• added filter chain for state values
• log control period settings
• use update_period_ for controll unless use_realtime_period is set true
• better initialize last_time_
• removed canSwitch implementation, added compile-time check for prepareSwitch
• exit code for generic error should be 1, not -1
• styled and sorted CMakeLists.txt * removed boilerplate comments * indention * reviewed exported dependencies
• styled and sorted package.xml
• update package URLs
• foward commands ony if enabled in doSwitch
• moved switch implemenation to non-RT prepareSwitch
• migrated to non-const prepareSwitch
• Splitted control_node.cpp into control_node.cpp, robot_layer.cpp and robot_layer.h
• renamed chain_ros.h to ros_chain.h, fixes #126
• added strictness to service call, extend error message for doSwitch fails
• stop controllers that failed switching via service call
• stop all cotnroller joints if one failed to switch
• check for ready state before controller/mode switching
• improved init bevaviour: * URDF is not read again (was not needed anyway= * register interfaces only of first init
• remove unnecessary atomic reads
• halt motor if switch failed
• Fix for switching controllers with same mode
• More expressive comments for compile-time check
• Contributors: Mathias Lüdtke, Michael Stoll

0.6.4 (2015-07-03)

0.6.3 (2015-06-30)

• added motor prefix to allocator entry
• only register limit interfaces with actual limits
• added motor_layer settings
• Migrated to ClassAllocator helper
• do not run controller manager on shutdown
• migrated to motor plug-in
• working compile-time check
• reset commands without controllers to current value
• got rid of getModeMask
• added check for old unit factors
• added closing braces in default conversion strings
• forgot var_func assignment in constructor
• ensured UnitConverter access to factory is valid during lifetime
• add unit conversion based on muparser
• dependency on muparser
• Refer to ipa320/ros_control overlay
• migrated to new hwi switch interface
• atomic joint handle pointer
• test if mode is support, add No_Mode
• enabled limit enforcing again
• removed debug output
• Fixes https://github.com/ipa320/ros_canopen/issues/81
• Enforce limits and current_state necessary for writing
• Merge remote-tracking branch 'mdl/indigo_dev' into refactor_sm Conflicts: canopen_402/include/canopen_402/canopen_402.h canopen_402/src/canopen_402/canopen_402.cpp canopen_motor_node/src/control_node.cpp
• refactored Layer mechanisms
• Fixes crash for unitialized boost pointer for target_vel_ and target_pos_
• MotorChain is now a template
• early check if joint is listed in URDF
• introduced 'joint' parameter (defaults to 'name')
• 'modules' was renamed to 'nodes'
• Merge branch 'indigo_dev' of https://github.com/ipa320/ros_canopen into indigo_dev
• Merge pull request #70 from ipa-mdl/pluginlib added plugin feature to socketcan_interface
• compile-time check for ros_control notifyHardwareInterface supportcompü
• added driver_plugin parameter for pluginlib look-up
• implemented threading in CANLayer
• removed SimpleLayer, migrated to Layer
• Layer::pending and Layer::halt are now virtual pure as well
• • Eliminates Internal State conflict
  • Treats exceptions inside the state machine
• keep loop running
• proper locking for hardware interface switch (might fix #61)
• Merge branch 'auto_scale' into indigo_dev Conflicts: canopen_chain_node/include/canopen_chain_node/chain_ros.h
• Merge remote-tracking branch 'ipa320/indigo_dev' into indigo_dev Conflicts: canopen_chain_node/include/canopen_chain_node/chain_ros.h canopen_motor_node/src/control_node.cpp
• removed MasterType form template
• Merge branch 'indigo_dev' into merge Conflicts: canopen_chain_node/include/canopen_chain_node/chain_ros.h canopen_master/include/canopen_master/canopen.h canopen_master/include/canopen_master/layer.h canopen_master/src/node.cpp canopen_motor_node/CMakeLists.txt canopen_motor_node/src/control_node.cpp
• added unit factor parameter parsing
• Scale factor acquired from yaml file
• Contributors: Mathias Lüdtke, thiagodefreitas

0.6.2 (2014-12-18)

0.6.1 (2014-12-15)

• remove ipa_* and IPA_* prefixes
• fixed catkin_lint errors
• added descriptions and authors
• renamed ipa_canopen_motor_control to canopen_motor_node
• Contributors: Florian Weisshardt, Mathias Lüdtke