0.6.17 (2018-07-21)

• update maintainer
• Contributors: fmessmer

0.6.16 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #159 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.15 (2017-07-18)

• handle continuous joints in ControllerInterfaceJointStates
• handle continuous joints in position_limiter
• harmonize createTask
• remove unused TaskDamping
• remove ConstraintParamFactory
• harmonize ConstraintParams
• set default values for damping methods
• own param struct for unified solver
• New singularity and joint limit avoidance method (#149) * first implementation of new jla solver using sigmoid functions * first version of new JLA method working * last fix to new JLA solver * correction in parameter used in sigmoid damping method * new solver added and new jla method added to be tested and selected according to performance comparison * fix to rqt_reconfigure parameters * final correction to new solver and new weighting method * prints removed * square trajectory added * wln with sigmoid solver corrected * final corrections * final corrections to the solver formula * created unified singularity and joint limit avoidance class... other classes moved * restoring wln previous version of the solver * saturation block added in unified solver just for testing * saturation block corrected * checking new solver and constraints * corrected new test script for the new method * removed test files and corrected identation * defining GPM solver as default * fix identation * comment corrected * identation fix in contraint solver factory * finalize PR
• cleanup leftovers
• pluginlib approach for controller interfaces
• add toggle for enforce_input_limits, implement both All and Individual Cartesian limiting
• combine LimiterXContainer
• limiter fixed
• Limiter Base class removed
• pull request changes
• final implementation of cartesian limiter
• bug fixed in class limiter container
• bug fixed in class limiter container
• cartesian limits introduced
• remove sympy implementation and dependency
• use xacro --inorder
• final roslint
• applied changes request in the pull request review
• damping factor for old method replaced by a diagonal matrix
• last corretions to pull request
• corrections added according to last Felix comments
• fixed changes done by rebase
• prints removed for new damping function calculations
• new method based of sigmoid function to singularity avoidance implemented
• bug fix in least square calculation when changing to return matrix
• starting to roslint some packages
• manually fix changelog
• Contributors: Bruno Brito, ipa-fxm

0.6.14 (2016-10-10)

0.6.13 (2016-10-10)

0.6.12 (2016-10-10)

• cob_twist_controller: fix add_dependencies calls
• Contributors: ipa-mig

0.6.11 (2016-04-01)

• reduce output
• outsource obstacle_distance messages
• remove support for interpol_position controller
• debug output
• use joint_group_velocity_controller for torso extension
• verify position limit scaling factor
• fix typo
• fix lookat: do not look backwards
• missing sympy dependency
• add test publisher twist sine
• avoid unecessary service calls to obstacle_distance
• fix collision avoidance dimension segfault
• infinitesiamal threshold for BaseActive
• wider limits
• enforce position limit
• add test_forward_command_sine_node
• cleanup period
• Update test_trajectory_command_sine_node.cpp
• adjust lookat extension limits
• more compact parameter structure
• make lookat linear axis configurable - axis and offset
• cleanup roslint
• add trajectory_command test node
• introduce cfg-parameter integrator_smoothing
• add debug publisher to simpson_integration
• rename member variables
• add q_dot_ik smoothing, adjust parameters
• add timing members for period
• Merge pull request #79 from ipa-fxm/fix_visualize_twist_marker visualize twist marker
• proper reset for ControllerInterfaceJointStates
• visualize angular twist
• fix visualize twist marker
• Fixed the TwistDirection Marker
• use undamped jacobian in nullspace projection
• minor renaming
• roslint cob_twist_controller
• final roslint
• add TimeStamp to trajectory_interface
• also print limiting joint
• prepare remapping for twist_mux in cartesian controller
• add test nodes for SimpsonIntegrator
• reset moving average
• simplify API
• use new API in SimpsonIntegrator
• test new MovingAverage API
• all new MovingAverage API
• saver initialization of weighting
• test scripts for moving_average
• use interpolated position controller
• add more debug scripts
• consider various roslint/styleguide hints
• apply change in parameter name
• fix frame_id in visualizeTwist
• lookat extension fully implemented
• more experiments with reset condition in simpson_integrator
• minor improvement of comment
• fix order of doxygen comment
• fix whitespaces
• move simpson integration to new util class
• prepare structure for lookat
• temporarily disable CA when being used together with KinematicExtensions
• less output
• more consistent code structure for constraints
• remove obsolete return values
• use extension_ratio for all extensions
• wip: consider kinematic_extensions within limiters and constraints - still unstable
• chain not needed in limiters
• resolve hardcoded cycle time in prediction
• proper generation of Jacobian for kinematic extension from urdf
• more generic naming in extension_dof, transform extension_jacobian in extension_urdf
• merge with demo updates
• fix BASE_COMPENSATION
• Fixed order of transform and service registration. Additionally added more time to wait for service availability.
• fix dimension of jac_extension
• merge and roslint
• roslint cob_twist_controller
• draft towards kinematic_extension for COB_TORSO based on URDF
• prepare structure for additional kinematic_extensions
• revert acceleration_limiters impl, class structure only, further consistency changes and cleanup
• progress with acceleration limiters, still wip
• implement acceleration limiter
• pass down whole JointStates structure
• better reset condition
• fix limiter reset, fix service existence, consistency
• prepare structure for acceleration limiters
• temporary cleanup
• do FK_Vel in GPM for debugging
• further debug gpm and self-motion
• add solveTwist duration output
• visualization marker for desired twist direction
• renaming: hardware_interface to controller_interface
• fixes for positional interfaces
• waitForExistence of registerLink service
• wip: use undamped inverse in gpm
• allow to calculate un-damped, un-truncated inverse jacobian
• update octave scripts for testing variants
• working on marker publisher
• working on log output
• update trajectory_hardware_interface
• introduce HardwareInterfacePositionBase, reset Integration on out-dated data
• handle base_compensation in kinematic_extension enum
• renaming frame - link
• Merge branch 'indigo_dev' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface
• • Commented output lines. - Renamed frame_of_interest to link_of_interest.
• Merge branch 'indigo_dev' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface
• implement JointTrajectory hardware_interface for twist_controller
• Contributors: Felix Messmer, Marco Bezzon, ipa-fxm, ipa-fxm-cm, ipa-fxm-mb

0.6.10 (2015-08-31)

0.6.9 (2015-08-25)

• authors in package xml
• Corrections integrated from PR: [WIP] Finalizing/Testing of TwistController features (#51). Renaming from frame_to_collision to link_to_collision.
• • Fixed bug in constraint implementation: sign was "-" but must be "+".
  • Moved scripts.
• • Added more text to package.xml
  • Moved scripts to subfolder test.
• Added new script for raw3-1.
• In config file avoided setting of 0 tolerance (DIV/0!). Removed additional output.
• • Made some changes for test. - Decreased Duration time for markers. - Corrected pose update for self collision check frames. - Added new scripts.
• Added comment to activation buffer.
• boost revision
• Merge branch 'test_of_feature' into test_of_feature_with_adapt_frame_tracker
• Overwritten numerical_filtering with false.
• Some preparations for test: IMarker smaller, Alpha settings, More scripts. Default value for Frame Tracker params.
• • Added parameters for activation buffer and critical threshold of CA and JLA constraints.
  • Removed method getActivationThreshold because parameter can be used directly.
  • Packed thresholds into struct.
  • Commented some outputs.
• • CA: Increased exp. decay from 0.1 to 0.2 - Added comments. - Moved constraints set and management to base class. - Added time delta to test script.
• • Removed parameter mu. - Added obstacle id for identification of collision pair in ObstacleDistance.msg. - Added Frametracking to DataCollector. - Restructured obstacle distance data collecting. - In debug trajectory marker added explicit usage of frame_tracker/tracking_frame.
• merge
• explicit dependency to boost
• Fixed bug when obstacles move away from robot. Clear distances list when new distances arrive (also in case nothing is available for current link) to avoid no movement.
• • Renaming obstacle_marker_server for interactive obstacle
  • Now publishing all obstacle distances instead of the minimal distance only. Defined a MIN_DISTANCE for selection of data to publish (e.g. > than 0.5 m doesn't make sense for CA).
  • Selection of the minimal distance in debug node.
  • Callback data mediator processes all obstacles for a frame of interest id now.
  • Restructured methods in constraint classes.
  • In CA constraint now processing all collision pairs for one link in a CollisionAvoidance instance.
  • Removed unnecessary output.
• Resolved merge conflicts.
• more fixes for migration afer merge
• merge with package_xml_2
• remove trailing whitespaces
• migrate to package format 2
• • Removed unnecessary commented code.
• • Added handling of no exception: Save files.
• • Avoided drawing of self-collision frames -> can be done via rviz.
  • Increased CA activation threshold to 0.25 m
• Deleted unnecessary files.
• • Renamed dynamics_tasks_readjust_solver -> stack_of_tasks_solver. Therefore adapted corresponding cfg and data_types.
  • Created Python package for data collection.
• fix HardwareInterfacePosition
• consider PR review comments
• • Removed experiment solvers for task stacks. Now the dynamic_tasks_readjust_solver works better than them.
  • adapted MakeLists and config and data_types.
• • For BVH introduced a shared_ptr member -> so a collision object can be created without copying the whole BVH. This saves computation time (5% for 3 SCA and 1 torus)
  • Decreased rate for cob_obstacle_distance because the movement does not change that often.
  • According to the rate adapted the moving average for distance in constraint_ca_impl
• updates from ipa-fxm-mb
• Implemented Python package to set dyn_reconfigure params. Made test_move_around_torus use of this class.
• cleanup
• sort dependencies
• Created test, Removed commends, Removed output.
• Fixed bugs in cartesian_controller: waitFor last available transform else extrapolation error; send always a new constructed StampedTransform instead of using an already existent one, else end-effector is decoupled from manipulator and other confusing things happen...; Added responsible node to tf error msg.
• Merged with ipa-fxm/test_of_feature branch.
• Separated JLA and CA constraints from constraint_impl.h
• • Corrected JLA constraint. - Added weighting of GPM prio dependent. - Added buffer region for CA constraint to become active.
• Made movinge average generic for other data types. Using moving average for CA constraint.
• simplify simpson
• • Removed PredictDistance Service (not necessary anymore; found a lightweight computational algorithm).
  • Made KDL::ChainFkSolverVel_recursive in CA constraint available for prediction.
  • Replace constraints update method prediction variable with JntArrayVel.
  • Refactored ObstacleDistance.msg: Reduced number of members, renamings, added frame_of_interest for registration and made use of header->frame_id for arm_base_link.
  • Renamed service for registration.
  • Improved input twist damping in case of a constraint is in CRITICAL state.
• check for frame existence
• allow target_frame to be configured via private param, beautifying
• Further tests and adaptations for test.
• Added generated const from .cfg; Styling
• re-implementation of trajectory_publisher in c++
• Added Python package to collect data and write collected data into a file.
• Fixed parameter initialization.
• fix parameter initialization + add max_vel_base to cfg
• add topic name to ROS_WARN output
• add doxygen documentation
• add example launch file
• publish joint_states in separate thread
• adding JointStateInterface
• add base_marker to publisher
• generalize scripts, minor changes
• Corrected default values in cfg.
• Corrected CMakeLists.txt. Replaced ASSIMP_LIBRARIES with assimp.
• Added consideration of origin from URDF tags. Removed shape_type and so Registration.srv and replaced by SetString service. Removed comments.
• Considering visual tag as fallback now. Removed duplicate map and struct.
• Considered further proposals from https://github.com/ipa-fxm/cob_control/pull/7.
• Considered proposals from https://github.com/ipa-fxm/cob_control/pull/7
• Integrated comments of https://github.com/ipa-fxm/cob_control/pull/7. Replaced static link2collision map with URDF parser. Added class for URDF parser and create marker shapes.
• Added functions to represent a registered robot link as a mesh instead of simple shapes. Added a mapping between robot link name and mesh resource name.
• Integration. To avoid controller jump into critical region again introduced in cart vel damping.
• Fixed DIV/0 error in distance cost function calculation.
• Reassignment of corrected values to twist_controller_params_ instance.
• Added JLA inequality constraint to be used within the dynamic task strategy. Added checking and resetting of dynamic_reconfigure params. Corrected formatting of LSV damping.
• Moved TaskStackController to parameters list. Added new damping factor for constraints (to avoid algo. singularities). Added new inverse for testing.
• Separated constraints from solvers and vice versa. Added new parameters. Prettified GUI.
• Added a Simple Python node to publish a line strip to see the real trajectory and the desired one.
• Made CA possible with active base. Bug fixing of solvers in case of base active. Corrected JLA constraints.
• more style unification
• parameter initialization
• enforceLimits now in inv_diff_kin_solver
• enum for KinematicExtension and styling for constants
• consider remarks from CodeReview: mainly styling and beautify
• hardware_interface_type renaming
• re-arrange Parameter structs
• Merge branch 'task_stack_prio_feature' of github.com:ipa-fxm-mb/cob_control into multi_feature_merge
• Added new method for dynamic tasks readjustment. Implemented prediction of distance now for vectors.
• resolve conflicts after merging ipa-fxm-mb/task_stack_prio_feature
• KinematicExtensionBaseActive works
• WIP: further cleanup and introduction of abstract helper class
• WIP: kinematic_extension replaces base_active
• Refactored task stack solvers. Fixed creation of solver instances. Removed unnecessary test code.
• beautify and code-review
• remove auto generatable doc
• merge with ipa320
• generic interface types
• Added chain recursive fk vel calculator. Corrected calculation of translational Jacobian for CA. Introduced further msg types to achieve that. Extended solvers: CA as first prio task, CA as GPM, CA as GPM with disappearing main tasks.
• Added task stack controller.
• Corrected dist calclation for GPM CA
• Added stack of tasks and Macijewski task prio CA.
• Added stack of tasks and further developments on GPM CA.
• Further developments.
• Implemented proposals from discussion https://github.com/ipa320/cob_control/pull/38. Removed tabs. Corrected node handles.
• Merge with IPA320 Indigo Dev.
• removed bug
• merged
• Added moving average filter and simpson integration formula
• New octave script to check whether split of vector v into separate tasks works.
• Removed rad variable.
• Fixed issue in WLN_JLA: Removed conversion to radian.
• Made code more CppStyleGuide ROS compliant.
• Made corrections proposed in https://github.com/ipa320/cob_control/pull/38#
• • Renaming: AugmentedSolver -> InverseDifferentialKinematicsSolver
  • Merged cob_twist_controller_data_types and augmented_solver_data_types -> cob_twist_controller_data_types
  • Renamings: According to ROS C++ Style Guide.
• • Added doxygen comments
  • Corrected the messages produced by catkin_lint
  • Created a static method to return SolverFactory
• • Made obstacle tracking independent from arm_right.
  • Refactored signatures of solve methods: Instead of using dynamic vector now a 6d vector is used because twists are of dim 6d.
  • Removed unnecessary comments.
  • Introduced eigen_conversions to have simple converters instead of filling matrices and vectors manually -> Reduces typing and copying errors!
• • Renamed some variables according to ROS C++ style guide
  • Moved advanced chain fk solver from cob_twist_controller to cob_obstacle_distance.
  • Replaced complicated transformation of base_link to arm_base_link with simpler and direct one.
  • Removed unnecessary services and replaced with message publisher and subscriber (for distance calculation).
  • Added example launch file for cob_obstacle_distance.
  • Corrected handling of objects of interest. Now in both packages frames are used (instead of joint names) -> made it similar to KDL and tf handlings.
  • Removed commented code.
  • Removed pointer where objects could be used directly (constraint params generation)
  • callback data mediator keeps old distance values until new ones were received. An iterator is used to go through the container.
• Added missing modules
• • Created a obstacle distance publisher in cob_obstacle_distance package and a subscriber in cob_twist_controller package.
  • Created registration service in cob_obstacle_distance
  • Creation of multiple CA constraints dependent on formerly registered joint regions.
• test
• Renaming
• Added collision avoidance feature. Solve with GPM. Made usage of cob_collision_object_publisher via ROS service.
• Added possibility to calculate self motion magnitude dependent from joint velocity limits.
• Removed tracking error publisher / subscriber and removed additional p gain for PD-Control (already done in FrameTracker with PID controller)
• Solved merge conflicts
• WIP: - Added new solver feature: GradientProjectionMethod. - Added cost function for: JLA, JLA_MID, CA - Added kappa parameter to set GPM scaling. - Added builder to support build of multiple constraints.
• Added new implementation for KDL::ChainFkSolverPos_recursive. Provides storage of joint positions.
• Beautify. Corresponding to PR https://github.com/ipa-fxm-mb/cob_control/pull/1.
• renamed parameters and functions
• Generischer Ansatz
• Low Isotropic Damping
• • Added constraints for JLA and JLA mid.
  • Added calculation for step size.
• • Prepared the implementation of a builder to create a set of constraints.
  • Decoupled constraints generation from solver class GPM (now they could be used for other methods as well).
  • Removed asParams from constraints. Only necessary for constraintParams.
• • Added a possibility to implement constraint functions.
  • Added a registration mechanism to the solver (registration in a priorized set).
  • Added a parameter to select it
• • Renamed pseudoinverse_calculation -> inverse_jacobian_calculation
• • Decoupled pseudoinverse calculation from constraint_solvers. That allows new implementations for pseudoinverse calculations. Additionally it allows to calculate pseudoinverses of further Jacobians (e.g. for constraints)
  • Removed unnecessary _base.cpp files and removed them from CMakeLists.txt.
• • Refactored parametrization of damping -> damping method is now given to solver for extensions (like numerical filtering)
  • Considered damping method NONE in case of no damping for solving IK.
• • Added a publisher for the tracking errors to send them to cob_twist_controller
  • Added a subscriber to collect the errors and put them to the solver.
  • Added a parameter to set the p gain. If 0.0 old behavior is active (default value).
• Contributors: ipa-fxm, ipa-fxm-cm, ipa-fxm-mb
• add missing include
• Contributors: ipa-fxm
• missing dependency
• Contributors: ipa-fxm

0.6.8 (2015-06-17)

0.6.7 (2015-06-17)

• reduce output in limiters

• restructure namespaces for parameters of cartesian controllers

• • Instead of creating png create eps.
• • Added new damping method None
  • Added enum value to select damping None
  • Removed pure pointer usage and added boost::shared_ptr usage (which provides pointer management / ensure deletion of objects)
  • Removed unused includes
  • Renamings
• • Removed unnecessary ROS_INFO_STREAMs
  • Removed temporary variables for test code
• • Added debug code
  • Removed truncation
  • Removed unused members
• • Grouped limiters in one .h and one .cpp
  • Grouped damping_methods in one .h and one .cpp
  • Removed separate factories. Made SolverFactory generic by introducing template parameters.
  • Made usage of boost::shared_ptr instead of own pointer handling.
  • Adapted CMakeLists.txt according to changes.
  • Split parameter enforce_limits into enforce_pos_limits and enforce_vel_limits
• • To enforce limits for joint positions and velocities created new classes.
  • Additionally added parameter for keeping direction or not when enforcing limits.
  • Therefore removed normalize_velocities and enforce_limits from cob_twist_controller. Instead the new limiter_container is used.
  • Added new struct to provide cob_twist_controller params.
  • Removed debug code.
• • Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
  • Added script to check pseudo-inverse calculation.
• • Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
  • Added an octave script to verify the statement above.
• • Removed unnecessary file
• • Added doxygen comments
  • Activated graphviz for doc generation
  • Added const to method signatures to avoid undesired JntArray-Data change.
• • moved enfore_limits from augmented_solver to cob_twist_controller
  • Added a base case WeightedLeastNorm to constraint solvers

  System Message: WARNING/2 (<string>, line 440)

  Bullet list ends without a blank line; unexpected unindent.

  Instantiated it acts like an unconstraint solver. - Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver - WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting

• • moved enfore_limits from augmented_solver to cob_twist_controller
  • Added a base case WeightedLeastNorm to constraint solvers

  System Message: WARNING/2 (<string>, line 445)

  Bullet list ends without a blank line; unexpected unindent.

  Instantiated it acts like an unconstraint solver. - Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver - WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting only. -> Solving is done by the WLN Solver.

• Added validation outputs. Added comments for doxygen generation. Did some renaming.

• Made restructured changes active. Corrected some implementation. Activated both old and new implementation for comparison and testing purposes.

• Made usages of ConstraintSolverFactoryBuilder: - Creates DampingMethod - Creates ConstraintSolver - Executes calculation of joint velocities.

• Split up augmented_solver.cpp into different constraint solvers: JLA constraints and unconstraint.

• • Restructured augmented_solver.
  • Renamed class augmented_solver to AugmentedSolver.
  • Created damping_methods as classes to ease creation of dampings (and new ones).

• add comments

• cleanup

• beautify CMakeLists

• using correct base topic names

• fix debug node

• remove obsolete code for parameter initialization, enforce_limits behaviour

• revision, simplification and cleanup

• remove obsolete files

• twist controller analyser

• last update

• update working frame_tracker

• base compensation test

• temporary adjust base topics

• reduce output

• twist series test script

• use component specific joint_states topic

• no output

• merge

• cleaning up

• new publisher and transformation names

• merge with cm

• added commentary, tolerance as dynamic reconfigure, modified enforce_limits

• Debug functions

• merge with cm

• Merge branch 'indigo_dev' of https://github.com/ipa320/cob_control into fm_cm_merged_new

• last commit before merging

• new rqt_features

• delete all test packages

• delete all test packages

• fixed errors from merging

• merged from ipa-fxm-cm

• beautify, added commentary, limit enforcing and dynamic reconfigure for JLA

• new debug twist

• add tracking_action

• test

• new features

• test

• Merge branch 'merge_fm_cm' of github.com:ipa-fxm-fm/cob_control into cm_dev

• changes

• Corrected errors from merging

• First merge attempt

• Joint Limit Avoidance added and cleaned up

• Added publisher for the pose

• Modified for the new structure

• cleaned up again

• Cleaned up

• New features

• a commit a day keeps the doctor away

• Contributors: Christian Ehrmann, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm, ipa-fxm-mb

0.6.6 (2014-12-18)

• remove dep to cob_srvs and std_srvs
• Contributors: Florian Weisshardt

0.6.5 (2014-12-18)

• Merge branch 'indigo_dev' into indigo_release_candidate
• add dep
• Contributors: Florian Weisshardt

0.6.4 (2014-12-16)

0.6.3 (2014-12-16)

• add dependency to nav_msgs
• Contributors: Florian Weisshardt

0.6.2 (2014-12-15)

• Merge branch 'indigo_dev' into indigo_release_candidate
• fix twist_control dimensions for any-DoF
• merge with fxm-cm
• merge with fxm-fm
• cleaning up
• branch with features for merging
• topics according to new structure
• remove brics_actuator
• more topic renaming according to new structure
• renaming debug topic
• adapt namespaces for cartesian_controller to new structure
• dynamic reconfigure
• revision of cob_twist_controller
• merge_cm
• merge_fm
• temporary commit
• temporary commit
• changes in initialization
• restructure test_twist publisher scripts
• fix twist_controller to be usable without base again
• able to add base DoFs to Jacobian solver - first tests - needs more debugging
• null-space syncMM
• add test script for twist_stamped
• able to apply twists wrt to various coordinate system orientations
• cleanup, restructure and fix
• missing include
• merge with fxm-fm + clean up
• add twist publisher script
• add output publisher
• cleaning up
• beautify
• Add fixes provided by @ipa-fxm-fm
• fix controller and add damping
• add twist publisher script
• add output publisher
• Add fixes provided by @ipa-fxm-fm
• Contributors: Florian Weisshardt, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm

0.6.1 (2014-09-22)

0.5.4 (2014-08-26)

• fix dependency-hell on multiple cores
• moved cob_twist_controller
• Contributors: Alexander Bubeck, ipa-fxm