CHANGELOG

Changelog for package odri_master_board_sdk

1.0.7 (2024-06-24)

  • Fix header to have the package working on Noble (@olivier-stasse)

  • Fix building Python bindings on Mac (@ManifoldFR)

  • Remove fetching Catch2 v3 and detect automatically the installed version. (@olivier-stasse)

  • Add Rolling github action (@olivier-stasse)

1.0.6 (2023-11-15)

  • Makes cmake-format happy !

  • [CMakeList.txt] Fix CMakeLists.txt to install the header.

  • Add cmake-format.

  • Change name of the package to make it release in ROS-2.

  • CMake: update submodule use

  • CMake: bump catch2

  • Partial support of the new Power-Board hardware

  • Fix two bugs (FLOAT_TO_D8QN and compiling issue) + remove warnings on the core library.

  • [master_board_sdk] Fix compilation error on master_board_interface.cpp l.263 Introduced by commit 782c348 it fails because %s is expecting char * and not std::string. This fails on clang.

  • [master_board_sdk] Fix warnings. There are still some warnings wih Catch2 and clang. But Catch2 is a dependency and should be fixed upstream.

  • [protocol] FLOAT_TO_D8QN has a wrong bracket. This commit fix this.

  • [cmake] Synchronize to remove error during install process.

  • Add error, thrown by sdk, for protocol version mismatch (during init)

  • Add ament_cmake build_type export in package.xml and install package.xml file

  • Update sdk/master_board_sdk/CMakeLists.txt

  • [master_board_sdk/CMakeLists.txt] Remove useless CMAKE_PREFIX_INSTALL specification.

  • [master_board_sdk/package.xml] Remove ament_cmake dependency and buildtool dependency.

  • [CMakeLists.txt] Remove dependency to ament_cmake and generates files for Colcon underlays.

  • [package.xml] Add dependence to ament_cmake if ROS-2 is detected.

  • [CMakeLists.txt] Uses ROS-2 if the environment is compatible.

  • [package.xml] Add ament_cmake export for colcon support.

  • [cmake] Add install procedure for file package.xml

  • Adding ROS-2 rolling CI to the repository and some changes to have it working.

  • [sdk/master_board_sdk/tests/test_protocol.cpp] Commented the test on NaN which is failing.

  • [sdk/master_board_sdk/package.xml] Fix package dependency. Update version to 3. Add dependencies to libboost-python. Add git for dependencies.

  • [cmake/sdk_master_board/CMakeLists.txt] Improve CMakeLists.txt.

  • [cmake/master_board_sdk/CMakeLists.txt] Removing components

  • [cmake] Change again python detection place.

  • [cmake] Change place for python detection

  • [sdk/master_board_sdk/CMakeLists.txt] Update Find Python detection. Update message when detection is failing.

  • [Cmake] remove python components.

  • [master_board_sdk/CMakeLists.txt] Provides better Python detection

  • [cmake] Synchronize

  • [package.xml] XML version 1.0

  • [package.xml] Remove Boost depend.

  • Cmake

  • pre-commit run -a

  • sync submodule

  • (Small) Fix for sdk examples with python >=3.8

  • Apple support for wired connection.

  • [Link_manager] Fix message when the priority is not set correctly and fails using assert.

  • [cmake] Switch back the default to ON if this is not an APPLE platform

  • Add Python bindings for SetKp/Kd/SaturationCurrent and fix example.py

  • Zero-initialise all members of Motor

  • Change macro name for platform from UNIX to linux. Include net/if_arp.h only for APPLE.

  • Fix missing header.

  • Fix wrong elif condition and missing brackets.

  • Apple support for wired connection.

  • example.py: Initialise all reference values and gains to zero This should not really be needed anymore since values are already zero-initialised in Motor but better be safe than sorry.

  • fix example.py: time.clock() has been removed time.clock() has been deprecated in Python 3.3 and does not exist anymore in newer versions. Use perf_counter instead.

  • Add Python bindings for Motor::SetKp/Kd/SaturationCurrent At least by now they are implemented in motor.cpp, so there’s no reason to not add bindings for them.

  • Zero-initialise all members of Motor This should fix an issue that was likely caused by kp being set to some random non-zero value, resulting in the motor unintentionally being held at some position.

  • Missing include

  • plateform and distro modules optionnal for sdk example com_analyser.py

  • Swap process_time and clock for better intelligibility

  • Protocol version added in init_ack packet & version mismatch throw runtime error in sdk

  • Fix sdk examples for python version >=3.8

  • CMake: add unit tests

  • Fix minor build error and update cmake submodule

  • CMake: add unit tests

  • Handle out-of-range motor params without wraparound (#117) Avoid fixed-point overflow

  • Minor CMakelist change and cmake update

  • SDK: fix a few warnings

  • [CMake] set RPATH for executables

  • SDK: fix warnings

  • Add Python bindings for powerboard data

  • add pyton bindings for power baord

  • [SDK][Firmware] Add partial support for power-board, Update protocol version and sdk accordingly

  • Contributors: EtienneAr, Felix Kloss, Guilhem Saurel, Naveau, Olivier Stasse, Thomas Flayols, Trevor Blackwell, odri, thomasfla

1.0.5 (2022-06-30)

  • Merge pull request #110 from open-dynamic-robot-initiative/fwidmaier/version Bump version to 1.0.5 and add changelog

  • Bump version to 1.0.5 and add changelog

  • fix package.xml for catkin build compatibility

  • Merge pull request #109 from open-dynamic-robot-initiative/jviereck/mailbox_only Use mailbox for SPI communication

  • fix example_imu_data_collection

  • Add MasterBoardInterface::get_imu_data() Add method to easily get the full IMU data.

  • Adding CMakeList entry for new example

  • Adding example for collecting and plotting IMU data for 10 seconds

  • SDK: cherry-pick fixes, fix #106 initial commit: 32b0252c64a064c55e8cd07115a003b15c0d0a86

  • Contributors: Felix Widmaier, Guilhem Saurel, Julian Viereck, Maximilien Naveau

1.0.4 (2021-07-21)

  • Merge pull request #99 from paLeziart/add-parse-sensor-data Add parse sensor data

  • Add comment to explain the call to ParseSensorData

  • Add a ParseSensorData in MasterBoardInterface Init function

  • Merge pull request #97 from open-dynamic-robot-initiative/jviereck/fix_regression Fix problem with reference to packed fields in MasterBoardInterface ParseSensorData

  • Fix problem with reference to packed fields in MasterBoardInterface::ParseSensorData

  • Merge pull request #94 from open-dynamic-robot-initiative/jviereck/fix92 Set close to zero velocity to zero. Fixes #92

  • Address review comments

  • Set close to zero velocity to zero. Fixes #92

  • Contributors: Julian Viereck, odri, paLeziart

1.0.3 (2021-06-09)

  • Merge pull request #90 from open-dynamic-robot-initiative/mnaveau/python_bindings_by_default Update CMakeLists.txt

  • Update CMakeLists.txt

  • Contributors: Naveau

1.0.2 (2021-05-11)

1.0.1 (2021-04-16)

  • Merge pull request #82 from open-dynamic-robot-initiative/jviereck/attempt_three Make communication more robust

  • Increase the CONFIG_SPI_N_ATTEMPT from 2 to 3. Add a counter in the example to see number of times an error was reported

  • Merge pull request #78 from open-dynamic-robot-initiative/mnaveau/missing_definition [sdk] fix missing definition from the Motor class

  • Merge pull request #77 from open-dynamic-robot-initiative/jviereck/error_encoder_2 SDK: Adding error code for encoder2 error

  • Merge pull request #75 from open-dynamic-robot-initiative/mbogdanovic/fix_stat_overflow SDK: Fix bug/crash with overflow in statistic computation

  • [sdk] fix missing definition from the Motor class

  • SDK: Adding error code for encoder2 error

  • Update README.md

  • Update README.md

  • SDK: Fix bug/crash with overflow in statistic computation

  • Merge pull request #72 from open-dynamic-robot-initiative/mnaveau/export_library Warning Hunt and CMake export.

  • update target names

  • update the interface to double values

  • remove warning in the example_pd

  • fix a couple of warnings

  • Synchronize.

  • export the includes and install them

  • fix project name

  • add Boost to the package.xml

  • add the license and package.xml

  • export the cmake library

  • Merge pull request #74 from open-dynamic-robot-initiative/jviereck/current_sat [SDK] Add support for current saturation

  • [SDK] Add support for current saturation

  • Merge pull request #71 from thomasfla/master Add local joint impedance control interface + improve python binding packaging

  • Merge pull request #1 from nim65s/master Update CMake

  • CMake: ensure python lib always find c++ lib

  • CMake: fix sdk installation path, fix #45

  • CMake: update submodule and its use

  • Tune data representation in the protocol for usefull gains levels, Fix conevrsion of Kp Kd

  • Add IQ scalling for Kp and Kd values

  • Merge pull request #66 from maximekli/internship-major-refactor [Firmware][SDK][Doc] Major refactor and protocol update;

  • Merge pull request #19 from AlexisPotier/communication Fixed overflow issue in com analyser script

  • Fixed overflow issue on com_analyser

  • Plot graphs even if the script is stopped by a master board timeout

  • Merge pull request #17 from AlexisPotier/communication Better way to get wifi channel

  • Better way to get wifi channel

  • Removed listener mode special case because mb does not send packets in waiting for init anymore

  • Merge pull request #3 from maximekli/master Update fork

  • Merge pull request #15 from AlexisPotier/communication Added communication analyser script to test the network link between PC and MB + channel 14 support

  • Small refactor

  • Replaced latency script by communication analyser script

  • Added getters for wifi channel and protocol version

  • Enable channel 14 for wifi communication

  • Merge pull request #2 from maximekli/master Update fork

  • Merge branch ‘AlexisPotier-print’

  • Merge branch ‘print’ of https://github.com/AlexisPotier/master-board into AlexisPotier-print + some formatting

  • Avoid displaying headers when there is no spi connected

  • Merged PrintCmdStats and PrintSensorStats, improved the display of wifi/eth stats

  • Improved the display of IMU, ADC and motors data

  • Revert “Changing scheduler param to realtime in examples” This reverts commit beead35848bc759a2ef147b0a68dc79b47e57f74.

  • Improving display of latency test result

  • Changed protocol version from 2 to 3

  • Merge pull request #13 from AlexisPotier/latency Latency script for network link into master branch

  • Changing scheduler param to realtime in examples

  • Documentation update : added informations about the latency calculator script

  • Creation of a python script to compute the latency of the wifi/ethernet communication

  • Changed the protocol to be able to compute the latency for ethernet/wifi communication

  • Initialization of pointer + extra safety when stopping the interface

  • Added member function to check if driver is enabled

  • Fix division by zero

  • git push origin masterMerge branch ‘AlexisPotier-master’

  • Merge branch ‘master’ of https://github.com/AlexisPotier/master-board into AlexisPotier-master

  • Fix for command loss feedback reset and overflow

  • Get first packet loss to avoid jump in value

  • Proper getter and setters for a few driver properties

  • git push origin masterMerge branch ‘maximekli-master’

  • Merge branch ‘master’ of https://github.com/maximekli/master-board into maximekli-master

  • Merge branch ‘memory_leaks’

  • Merge branch ‘signal_handler’

  • Small fixes after merge

  • git push origin masterMerge branch ‘AlexisPotier-signal_handler’

  • Merge branch ‘signal_handler’ of https://github.com/AlexisPotier/master-board into AlexisPotier-signal_handler

  • git push origin masterMerge branch ‘AlexisPotier-memory_leaks’

  • Merge branch ‘memory_leaks’ of https://github.com/AlexisPotier/master-board into AlexisPotier-memory_leaks

  • Small refactor when checking drivers

  • Free link_handler when the program is stopped by SIGINT signal

  • Removed “virtual” keyword for stop function in ESPNOW_manager

  • Close correctly the pthread to avoid memory leaks

  • Added destructors in the interface to close correctly link_handler_ and avoid memory leaks

  • Small refactor

  • Added extra safety when closing interface

  • Merge pull request #5 from AlexisPotier/master Fix seg fault on stopping the interface

  • Added default argument for listener mode in interface constructor

  • Handling Keyboard Interrupt signal to close threads correctly when the script is interrupted by the user

  • Update doc with listener example

  • Updated outdated doc

  • Added connected status as an attribute in motor_driver class and adapting interface and example with it

  • Small refactor

  • Rework for listener to work in more cases Added getters for session id and reset packet loss stats method

  • Override stop method to stop differently wifi and ethernet connexions

  • Initialization of bpf in ESPNOW_manager

  • Small refactor on shutting down the interface

  • Little fix

  • Merge branch ‘feedback_on_packet_loss’

  • Merge branch ‘AlexisPotier-feedback_on_packet_loss’

  • Merge branch ‘feedback_on_packet_loss’ of https://github.com/AlexisPotier/master-board into AlexisPotier-feedback_on_packet_loss

  • Added getters for feedback and changed stats print functions

  • Created listener script that gathers sensor data from any connected mb

  • Adapted both examples for the new listener mode

  • Added listener mode to the interface that allows to get sensor data from any running mb (no session id checking)

  • Updated python example with failed spi transactions support

  • Added failed spi transactions support to example

  • Added protocol version to init msgs in interface

  • Updating interface and examples with the connected spi slaves feedback

  • Removed state machine test example

  • Fixed the error (invalid pointer) occurring at the end of the example

  • Fixed the segmentation fault occurring at the end of the example

  • Merge branch ‘AlexisPotier-new_branch’

  • Merge branch ‘new_branch’ of https://github.com/AlexisPotier/master-board into AlexisPotier-new_branch

  • Giving feedback on packet loss

  • update files to merge

  • update feedback packet loss using latest version

  • Merge branch ‘master’ of https://github.com/open-dynamic-robot-initiative/master-board

  • Merge pull request #62 from open-dynamic-robot-initiative/fwidmaier/fix-clang-error Using constant value for array length

  • Using constant value for array length Using the value from this->bpf.len for defining the array length seems to be accepted by GCC but resulted in an error with clang. Therefore store the value to a constexpr and use that instead.

  • Merge branch ‘master’ of https://github.com/AlexisPotier/master-board

  • add feedback on packet loss

  • Merge pull request #59 from AlexisPotier/master Added setcap solution in the SDK documentation and fixed a problem with the images in the SPI documentation

  • Update README.md

  • Adapting the examples for the new interface timeout (while waiting for acknowledgment)

  • Adding a new timeout to the interface in order to shut it down if we wait for an acknowledgment msg for too long

  • Added session id handling in sdk interface

  • Moving the master board state machine test program to its own folder and editing the CMakeLists and README files to run it

  • New python test file in the sdk to demonstrate every state of the master board state machine

  • Adapting python example for use with new master board state machine. Runs ok but seg fault in the end while stoping interface.

  • Adapting python master board sdk for use with new state machine

  • Small change to match previous commit

  • Small method name change to be more consistent with previous code

  • Adapting the example for use with the new master board firmware that uses init messages

  • Adapting master board interface for the new masterboard firmware that uses init messages. Not adapted for use with python.

  • Merge pull request #55 from open-dynamic-robot-initiative/jviereck/link_manager_destruct LinkManager: Close connection on destruction

  • LinkManager: Close connection on destruction

  • Merge pull request #52 from thomasfla/fix_linacc [sdk] rescale linear acceleration to SI, fix typo in python bindings

  • [sdk] rescale linear acceleration to SI, fix typo in python bindings

  • Merge pull request #35 from paLeziart/guide_python_script [SDK] Small guide on how to compile and launch the Python example

  • Merge pull request #50 from thomasfla/encoders_offset [SDK] Add a settable offset on position reading and reference positio…

  • Merge pull request #49 from open-dynamic-robot-initiative/mnaveau/timeout_send_command Timeout of the SendCommand only after the first command

  • Update the timeout of the SendCommand only after the first command as been set.

  • [SDK] Small guide on how to compile and launch the Python example

  • [SDK] Add a settable offset on position reading and reference position. Usefull for encoder offset calibration routines

  • Merge pull request #46 from thomasfla/tflayols_devel [SDK] [Firmware] Expose estimated linear acceleration from IMU

  • [SDK] expose accelerations in m/s^2 instead of g

  • [Firmware][SDK] Configure IMU to send linear acceleration estimate, adapt protocol and sdk to read it. Warning! Protocol has changed, the Master board needs to be flashed

  • [SDK] Remove N_SLAVE_CONTROLED from the library, use it only in the example; Set default value to 1

  • Merge pull request #34 from nim65s/master [Python] replace getopt by argparse

  • Merge pull request #40 from nim65s/cmake [CMake] PKG_CONFIG_APPEND_BOOST_LIBS has been fixed

  • Merge pull request #42 from open-dynamic-robot-initiative/jviereck/si_velocity_example_py_followup Update example.py as for d gain si unites

  • Update example.py as followup to #39.

  • Merge pull request #39 from open-dynamic-robot-initiative/jviereck/fix38_si_velocity [sdk] Fix velocity si unit conversion. Fixes #38

  • [CMake] PKG_CONFIG_APPEND_BOOST_LIBS has been fixed

  • [Python] replace getopt by argparse Which is cleaner, and comes with more functionnalities

  • [Python] avoid lines > 120 chars

  • [sdk] Fix velocity si unit conversion. Fixes #38

  • Merge pull request #36 from paLeziart/fix_typos_connection [SDK] Fix typos: connection instead of connexion

  • [SDK] Fix typos: connection instead of connexion

  • Merge pull request #33 from nim65s/master [CMake] clean master_board_sdk

  • [CMake] PKG_CONFIG_APPEND_BOOST_LIBS doesn’t work with boost python for now

  • [CMake] typo

  • [CMake] build python example

  • [CMake] sync submodule

  • remove symlinks build directory could be anywhere

  • [CMake] python .pc is configured in scrcpy/

  • [CMake] build python .so in standard place

  • [CMake] install python .so in PYTHON_SITELIB - CMAKE_INSTALL_PREFIX is implied - PROJECT_NAME has dashes, so this can’t work with python import system

  • [CMake] boost python is required for python

  • [CMake] update project definition

  • [CMake] remove end-of-line spaces

  • Merge pull request #29 from paLeziart/IMU_bindings [SDK] Python bindings for IMU data (accelerometer, gyroscope, attitude)

  • Merge pull request #30 from paLeziart/shutdown-timeout [SDK] Timeout of MasterBoardInterface if the master board is not resp…

  • [SDK] Timeout of MasterBoardInterface if the master board is not responding

  • [SDK] Python bindings for IMU data (accelerometer, gyroscope, attitude)

  • Merge pull request #26 from open-dynamic-robot-initiative/tflayols_devel [Firmware] Fix the IMU driver to deal with combined messages from IMU …

  • [sdk] fix makefile

  • Merge pull request #25 from paLeziart/bindings_adc_and_gains [SDK] Adapting gains for SI units + Python bindings for adc property …

  • [SDK] Adapting gains for SI units + Python bindings for adc property and printADC function

  • Merge pull request #20 from paLeziart/noprintf [SDK] Option to have no printf when running on realtime loop

  • [SDK] Option to have no printf when running on realtime loop

  • Merge pull request #9 from open-dynamic-robot-initiative/jviereck_adc Add support for reading and printing ADC values from the cards

  • Set SP_QN_ADC and UD_QN_ADC from 14 back to 16

  • Merge branch ‘master’ into jviereck_adc

  • Merge pull request #14 from open-dynamic-robot-initiative/jviereck_motor_si_units Changes motor position, velocities, kp and kd to SI units

  • Merge pull request #17 from paLeziart/master [SDK] Python bindings of MasterBoardInterface, MotorDriver and Motor …

  • [SDK] Python bindings of MasterBoardInterface, MotorDriver and Motor classes with Boost + example.py script

  • Changes motor position, velocities, kp and kd to SI units

  • Add support for reading and printing ADC values from the cards

  • Merge pull request #7 from open-dynamic-robot-initiative/mnaveau/catkin_compatiblity catkin compatiblity

  • fix the move of the sdk include to a sub-folder

  • move the include in a subfolder call master_board_sdk for general packaging consistency

  • moved all the files to clean the sdk folder

  • Contributors: AlexisPotier, Felix Widmaier, Guilhem Saurel, Julian Viereck, Maxime K, Maximilien Naveau, MaximilienNaveau, Miroslav Bogdanovic, Naveau, Pierre-Alexandre Leziart, Thomas Flayols, jviereck@tuebingen.mpg.de, maximekli, paLeziart, thomasfla