1.4.3 (2020-04-20)

• Adapt README for melodic & fix style of README & fix to run on melodic (#1090)

  • [hrpsys_ros_bridge] Prevent collision_state.py from dying on melodic ModelLoader_idl should be accessed from hrpsys module as with https://github.com/fkanehiro/hrpsys-base/blob/315.15.0/python/hrpsys_config.py#L8 and https://github.com/fkanehiro/hrpsys-base/blob/315.15.0/python/hrpsys_config.py#L809. See https://github.com/fkanehiro/hrpsys-base/commit/2dca76137c20856fcee634f5571059bebf7d3094 and https://github.com/fkanehiro/hrpsys-base/commit/a60a34483c5b6cdd02961257b6b7c7410443fc17. Related to https://github.com/fkanehiro/hrpsys-base/issues/145?

• use setJointAnglesOfGroup() and playPattern(), use clearJointAngles() with test (#1071)

  • Fix swapping of clear and clearJointAngles
  • Add comments to clarify when stopping motion is executed
  • Tell getting new goal from cancel
  • setJointANglesSequenceOfGroup has bugs as of 315.15.0, use old API intead see https://github.com/fkanehiro/hrpsys-base/pull/1237
  • add more debug info for #765
  • use setJointAnglesOfGroup() and playPattern(), use clearJointAngles()
  • add code to get hrpsys rtc version, thakns to @n-ando
  • Add two points trajectory to test of joint trajectory action cancel
  • Add comment on two points trajectory to samplerobot test of joint trajectory action goal overwrite
  • Add two points trajectory to PA10 test of joint trajectory action goal overwrite
  • Add test for joint trajectory action cancel overwrite with samplerobot
  • Add test for joint trajectory action goal overwrite with PA10
  • Add test for joint trajectory action cancel with PA10

• [HrpsysSeqStateROSBridge] output joint_state/velocity (#1069)

  • [hrpsys_ros_bridge.launch] add comment to USE_VELOCITY_OUTPUT
  • [hrpsys_ros_bridge] Add test of joint_states/velocity

• [rtm-ros-robot-interface.l] fix bug of :motor-extra-data (#1066)

  • [hrpsys_ros_bridge] Add test of :motor-extra-data without ros bridge

  • [hrpsys_ros_bridge] Rename :motor-extra-data test as *.launch to be excluded from catkin_install_run_tests See https://github.com/start-jsk/rtmros_common/pull/1083#issuecomment-565054164 and https://github.com/start-jsk/rtmros_common/commit/6a881595b6aae3f40d572201bad6bf1a4b5950a

    System Message: WARNING/2 (<string>, line 39); backlink

    Inline emphasis start-string without end-string.

• [rtm-ros-robot-interface.l] add method :set-ref-force-moment to rtm-ros-robot-interface class (#1045)

  • add method :set-ref-force-moment to rtm-ros-robot-interface class
  • [hrpsys_ros_bridge] Add test of :set-ref-force-moment

• Remove all ros::object slots in def-set-get-param-method (#1060)

• Set time_from_start to feedback of joint trajectory action with tests (#1073)

  • prev_traj_tm -> traj_start_tm
  • Stop feedback when trajectory is completed
  • Set time_from_start to feedback of joint trajectory action
  • Add test of feedback from joint trajectory action with samplerobot
  • Add test of feedback from joint trajectory action with PA10

• Re-enable & fix euslisp test on travis (#1085)

  • [hrpsys_ros_bridge] fix bug in samplerobot-sequence-player.l
  • To speed up travis jobs having euslisp tests, stop other tests

• Try to run multiple hrpsys simulation environments (#1054)

  • add manager port arg in default launch templates
  • re-add omniorb_args for backward compatibility
  • change to use omniorb_args -> openrtm_args
  • support any RTCManager port num
  • update ros bridge launch files

• [collision_state.py] fix argument of rospy.loginfo ( #1055)

• fix def-set-get-param-method in rtm-ros-robot-interface.l (#1053)

  • fix def-set-get-param-method in rtm-ros-robot-interface.l
  • add forgotten argument of string= in the last commit

• [hrpsys_ros_brdge] fix time-limit for test (#1057)

• Fix less than one sec (#1042)

  • [hrpsys_ros_bridge] change abs to std::abs for trajectory_action when it received trajectory less than 1.0 sec
  • [hrpsys_ros_bridge] add test for trajectory_action when it received trajectory less than 1.0 sec

• fix typo in stop-rfu-no-wait (#1044)

• use 2899/2898 for corbaport, since omniorb-nameserver forcestarted nameserver as default port 2809 when they're first installed (#1043)

• Update GaitGenerator/ReferenceForceUpdater methods (#1040)

  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method to configure toe heel phase ration automatically in GaitGeneratorParam.
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update method for new ReferenceForceUpdater functionalities (https://github.com/fkanehiro/hrpsys-base/pull/1239).
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method to print RTCs' parameters in more readable style using print-object.

• Add method to print RTCs' parameters in more readable style using print-object. (#1039)

• Contributors: Guilherme Affonso, Kei Okada, Naoki Hiraoka, Shintaro Komatsu, Shun Hasegawa, Shunichi Nozawa, Yohei Kakiuchi, Yasuhiro Ishiguro

1.4.2 (2017-12-22)

• add test to check #1036 situation (#1038)
• duration == 0.0 results unexpected behavior, so force set 0.001 when duration == 0 s set (#1037 )
• Contributors: Kei Okada

1.4.1 (2017-10-25)

• Update of sensor_ros_bridge_connect.py * Connect ReferenceForceUpdater's ref_force (#1033)

  System Message: ERROR/3 (<string>, line 106)

  Unexpected indentation.

  • [hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py] connect reference force port to ReferenceForceUpdater or EmergencyStopper if exists.

  System Message: WARNING/2 (<string>, line 107)

  Block quote ends without a blank line; unexpected unindent.

  • Add wait for rmfo and vs (#1029) * [hrpsys_ros_bridge, sensor_ros_bridge_connect.py] add wait for initalizinig all components

• HrpsysSeqStateROSBridge (#1027) * [HrpsysSeqStateROSBridge] fix for using virtual force sensor

• Update rtm-ros-robot-interface.l (#1030) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add documentation string for new arguments (set-ref-force-linear-p, return-value-mode) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add argument to set linear interpolation during increasing force * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to set return value mode * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to get fric coefficient wrench add update print messages * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update otd checking loop for moment. Exit from do-until-key loop immediately when otd detection. Fix valiables for set ref force * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Use euslisp symbol as detector total wrench parameter * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to access detector total wrench as euslisp symbol. * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update otd checking loop. Exit from do-until-key loop immediately when otd detection.

• Contributors: MasakiMurooka, Shunichi Nozawa, YoheiKakiuchi

1.4.0 (2017-08-09)

• display error message when body->sensor(j, i) is null (#1014)
• sensor_ros_bridge_connect.py : add more debug message (#1015)
• Update AutoBalancer and ReferenceForceUpdater euslisp method symbols (#1026) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Supprot :FootOriginExtMoment for RFU methods. * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support UseForceMode setting as euslisp symbol in :set-auto-balancer-param.
• fix code to run both Indido and Kinetic (#1025) * /test/test-samplerobot-hcf.launch: increase time-limit to 600 * test/{test-samplerobot.py,test-pa10.py} support both pr2_controllers_msgs and controllr_msgs * src/hrpsys_ros_bridge/hrpsys_dashboard.py: fix for qt5 * add USE_PR2_CONTROLLERS_MSGS definition * CMakeLists.txt : we do not use pr2_msgs on build time * CMakeLists.txt : remove code to download wet pr2_controllers_msgs for groovy
• Support stride parameter with different length (#1022) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support stride_parameter of different length * [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-auto-balancer.l] Add test to check stride parameter 4 and 6
• [HrpsysSeqStateROSBridge] fix stamp of joint_state. add stamp after reading m_rsangle (#1019) * [HrpsysSeqStateROSBridge] fix stamp of joint_state. add stamp after reading m_rsangle
• [HrpsysSeqStateROSBridge] remove subtraction magic number (#1013) * [HrpsysSeqStateROSBridge] remove subtraction magic number
• Support argumen t for setting duration of calibration. For :remove-xx methods, 8.0 by default[s]. For :reset-xx methods, 0.1[s] by default for compatibility (#1011) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Support argument for setting duration of calibration. For :remove-xx methods, 8.0 by default[s]. For :reset-xx methods, 0.1[s] by default for compatibility
• Add new methods for :remove-force-sensor-offset using RMFO (#1010) * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add new methods for :remove-force-sensor-offset using RMFO. Add warning message for deprecated remove-force methods.
• Update euslisp hrpsysbase samples (#1009) * [hrpsys_ros_bridge/test/hrpsys-samples] Add README for Euslisp hrpsys example basically copied from ros wiki (http://wiki.ros.org/rtmros_common/Tutorials/WorkingWithEusLisp) * [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-carry-object.l] Update carry demo euslisp sample. * [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-stabilizer.l] Update stabilizer euslisp sample according to hrpsys-base stabilizer sample update.
• Fix bug of sample4leg robot end-coords setting for arms. (#1008) * [hrpsys_ros_bridge/models/sample4legrobot.yaml] Fix bug of sample4legrobot end-coords setting for arms.
• Update project generator and refforce (#1007) * [hrpsys_ros_bridge/euslisp] Update README for openhrp-project-generator * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Fix orientation for openhrp-project-generator * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update for object turnaround detection to use initial ref forces * [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update dump function for openhrp project generator. Use openhrp-project-generator in openhrp3 package instead of _gen_project.launch
• Add forgotten update for robot.launch (https://github.com/start-jsk/rtmros_common/pull/1004) (#1005) * [hrpsys_ros_bridge/scripts/default_robot.launch.in] Add forgotten update in https://github.com/start-jsk/rtmros_common/pull/1004. Add USE_XXX of under-development RTCs for robot.launch such as samplerobot.launch to pass arguments to robot_ros_bridge.launch
• set USE_UNSTABLE_RTC as not all unstable rtc defiend in hrpsys_config.py, just for basic walking test, other latest development rtc is passed by arg (#1004) * set USE_UNSTABLE_RTC as not getUnstableRTC defined in hrpsys_config.py, it is for a basic walking test, other latest development rtc is passed by arg from test_samplerobot_euslisp_unittests.launch * [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch,hrpsys_ros_bridge/scripts/default_robot_ros_bridge.launch.in,hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l,hrpsys_tools/launch/hrpsys.launch] Update for ObjectTurnaroundDetector RTC. add USE_REFERENCEFORCEUDPATER and USE_OBJECTCONTACTTURNAROUNDDETECTOR.
• Contributors: Kei Okada, Shunichi Nozawa, Yohei Kakiuchi

1.3.3 (2017-02-12)

• HrpsysSeqStateROSBridge.cpp * HrpsysSeqStateROSBridge occurs error if number of force sensor is different with size of contact states. fix number of force sensor (#982) * Revert "[HrpsysSeqStateROSBridge] fix number of force sensor" #984 * Separate offset-removed force sensor data ports from rsforce, which is actual and non-offset-removed data port. Currently rsforce ports -> rsforce ports + offforce ports. (#964) * Fixed mistake of sensor_link_name, when robot has only virturl force sonsors (#945)

• HrpsysJointTrajectoryBridge.cpp * publish feedback for joint_trajectory_actions (#966)

• hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch * Add argument to change buffer length of rtmlaunch connection. Set 8 by default (default setting in openrtm). (#980) * fix model filename. Enable cache in ModelLoader, filename should be same as in .conf file. (#978)

• euslisp * [rtm-ros-robot-interface.l] refactor torque-controller interface (#994) * Update sequencefull unit system and arguments (#988)

  System Message: ERROR/3 (<string>, line 199)

  Unexpected indentation.

  • changed arguments of angle-vector-sequence-full see #985
  • [hrpsys-samples/samplerobot-sequence-player.l] Add test for angle-vector-sequence-full (check validity)
  • [rtm-ros-robot-interface.l] Use root-coords and zmp in the abs frame and convert them inside the :angle-vector-sequence-full
  • [rtm-ros-robot-interface.l] Introduce fsensor length for wrench and optionals
  • [rtm-ros-robot-interface.l] Use [mm] and [deg/s] instead of [m] and [rad/s] for vel, pos, and zmp.
  • [rtm-ros-robot-interface.l] Use [deg] instead of [rad] for jpos argument and remove jvs arg.
  • [rtm-ros-robot-interface.l] Use tm as [ms], previously [s].

  • [tm-ros-robot-interface.l] Update :reset-force-moment-offset to use :off force/moment vector (#983)
  • [tm-ros-robot-interface.l] Added a missing keyword in def-set-get-method for TorqueControllerService. (#972)
  • [tm-ros-robot-interface.l] Add euslisp interface for torque controller (#965)
  • [datalogger-log-parser.l] Modify unit of cogvel [m] -> [mm] for euslisp (#960)
  • [rtm-ros-robot-interface.l] Add get-go-pos-footsteps-sequence in rtm-ros-robot-interface.l and add test (#965)
  • [rtm-ros-robot-interface.l] Update frame of wrench. Previously, wrench frame is mismatch with documentation string. Previous : local -> new : world. (#963)
  • [rtm-ros-robot-interface.l] Add eefm force moment distribution weight parameter. (#958)
  • [rtm-ros-robot-interface.l] add Eus interface of SequencePlayserService_setJointAnglesSequenceFull and add test in test/hrpsys-samples/samplerobot-sequence-player.l (#954)
  • [datalogger-log-parser.l] Add sh reference force and support both rpy and 3x3 matrix for WAIST log(#956)
  • [rtm-ros-robot-interface.l] update rfu interface for idl changed in https://github.com/fkanehiro/hrpsys-base/pull/1005 (#952)
  • [datalogger-log-parser.l] Use joint-list length for datalogger joint angle conversion. (#953) * Add simulation actual root coords reading and check for existance of RobotHardware0_servoState in datalogger. Fix setting of simulators' data parser names. * Use joint-list length for datalogger joint angle conversion.
  • [rtm-ros-robot-interface.l] make directory for log files (#951)

• [scripts/default_robot_ros_bridge.launch.in] Add nameserver argument for ros_bridge.launch (#950)

• [test/hrpsys-samples/samplerobot-stabilizer.l] Update loadPattern sample because add-optional-data-from-rs-list is included in dump-seq-pattern-file (#959)

• Contributors: Ryo Koyama, Kei Okada, Noriaki Takasugi, Ryo Terasawa, Shunichi Nozawa, Yohei Kakiuchi, Yoshimaru Tanaka, Iori Kumagai, Iori Yanokura, Juntaro Tamura

1.3.2 (2016-04-26)

• [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
• [fix] HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords
• [fix] Modified HrpsysSeqStateROSBridgeImpl to enable virtual force
• [fix] [rtm-ros-robot-interface.l] add time constant prameter according to upstream idl update
• [fix] [hrpsys_ros_bridge] Fix genjava problem by adding message_generation as build_depend
• [fix] getFootStepParam interface according to upstream change. Remove rleg_coords and lleg_coords.
• [fix] [hrpsys_ros_bridge]change D if D from hrpsys is empty
• [feat] [hrpsys_ros_bridge/test/test-samplerobot.py] add test programs to check frame_id of off_xxsensor and ref_xxsensor (#940)
• [feat] Set /robot/type param according to lower-case robot name such as samplerobot.
• [feat] [hrpsys_ros_bridge/test/test-samplerobot.*] add a test program for init of hcf
• [feat] fix collision visualization, color of sphere will be purple if collision occur
• [feat] .travis.yml : add test when old hrpsys-ros-bridge exists (#929)
• [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add check for param existence for def-set-get-param-method to neglect idl mismatch error. Fix indent. (#933)
• [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add reference force updater euslisp methods.
• [feat] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add object turnaround detector moment version interface.l
• [feat] Add define controller #887
• [feat] Add leg limb controller setting.
• [feat] Add method to define joint trajectory controller by default setting.
• [feat] Add gopos overwrite and graspless manip mode to all demos
• [feat] Add example for graspless manip mode and gopos overwrite.
• [feat] Add euslisp interface for graspless manip mode.
• [feat] add a set-default-step-time-with-the-same-swing-time method
• [feat] add time constant prameter according to upstream idl update
• [feat] Add HrpsysSeqStateROSBridge tf rate test
• [feat] enable virtual force in HrpsysSeqStateROSBridgeImpl
• [feat] Enable to set subscription_type for DataPorts from hrpsys_ros_bridge.launch argument. Use new by default to keep backward compatibility.
• [feat] Add loading of optionalData from seq pattern file.
• [improve] add more mesage to prevent confusion
• [improve] Add setting for ReferenceForceUpdater
• [improve] Reset object turnaround detector's detector total wrench mode as TOTAL_FORCE in force estimation.
• [improve] Enable to set push_policy and push_rate for DataPorts from hrpsys_ros_bridge.launch argument. Use all and 50.0 by default to keep backward compatibility.
• [improve] Rename tf extract script for test and add comments for that
• [improve] add arguments(SIMULATOR_NAME_[ANGLE,VELOCITY,TORQUE]) to hrpsys_ros_bridge.launch, for connecting rtc components other than RobotHardware
• [improve] add time constant prameter according to u… #910
• [improve] add argument to set periodic time for object turning detection.
• [improve] define method to set/get emergency-stopper-paramMerge pull request #865
• [improve] Suppress /tf publishing rate by tf_rate using Timer callback in ros.
• [improve] Separate updating odometry and imu into functions
• [improve] Update st param #894
• [improve] add eefm_swing_rot_spring_gain / eefm_swing_pos_spring_gain as st param
• [improve] Update joint group and add test for limb controller
• [doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] In-code documentation improvement
• [doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Set default documentation string for def-set-get-param-method setter and getter.
• [doc] [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add argument documentation for :set-xxx methods.
• [doc] [hrpsys_ros_bridge/euslisp/README.md,hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update readme and euslisp documentation strings
• [doc] default documentation string for def-set-get-param-method setter and getter.
• [doc] In-code documentation improvement
• Contributors: Eisoku Kuroiwa, Kei Okada, Kentaro Wada, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Yu Ohara, Iori Yanokura

1.3.1 (2015-12-16)

• deb release only targeting to indigo
• Fix for travis testing
  • [hrpsys_ros_bridge/test/test-samplerobot.test] Use joint_states instead of odom to check tf because joint_states is more related with tf and [Hz] printing. than odom #880
  • [hrpsys_ros_bridge/test/test-samplerobot.test] Increase hzerror according to https://github.com/start-jsk/rtmros_common/issues/877#issuecomment-164669534. Current worst travis hz seem to be more than 300[Hz], so set 200[Hz] error. #879
  • catkin.cmake: use ccache only for CI environment #872
  • add depends from AutoBalancerService.hh to StabilizerService.hh #872
  • [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Increase time-limit for autobalancer euslisp test #879
• Fasten script excution
  • [hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py] Reduce unnecessary waiting for sensor port rosbridge connection. #879
• Bug fix
  • [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] Initialize prev_odom_acquired flag. #879
• Add euslisp new example and update for example conf setting
  • [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-stabilizer.l] Add Stabilizer + loadPattern example for euslisp interface. #875
  • [hrpsys_ros_bridge/catkin.cmake] Add Sequencer's optionalData setting for sample conf files. #875
• Contributors: Kei Okada, Shunichi Nozawa

1.3.0 (2015-12-09)

• deb release only targeting to indigo
• [.travis.yml, hrpsys_ros_bridge/catkin.cmake] Enable travis euslisp test using USE_DEB=source and reducing make jobs and loads #806
• Bug Fixes
  • [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] modify string conversion in RobotHardware0 (for robot name containing '_') #848
  • [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] Add RobotHardware0_servoState data to robot state #853
  • [hrpsys_ros_bridge/euslisp/datalogger-log-parser.l] Update unitsysetm conversion of angle-vector (rad->deg, m->mm) #845
  • [hrpsys_ros_bridge/catkin.cmake] Fix typo for hrpsys_PREFIX #843
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Return detection mode. #841
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Update set force method. Add reset force. #840
  • [hrpsys_ros_bridge/catkin.cmake] Update PDgain conf property name #816
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Fix for pos and rot ik thre #803
  • [cmake/compile_robot_model.cmake] move location of set variable (compile_all_target) #779
  • [src/hrpsys_ros_bridge/hrpsys_dashboard.py] Run event loop for 1 sec after showing splashwindow to force to load image immediately #762
  • [euslisp/datalogger-log-parser.l] Warn message if wrong path is specified #767
  • [euslisp/datalogger-log-parser.l] Add limb-list first, Add st and abc properties to datalogger log parser #761
• /off_xxsensor and /xxsensor
  • [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] fix /off_xxsensor frame_id #867
  • [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] fix frame_id of off_xxsensor #855
• euslisp/rtm-ros-robot-interface.l : add/modify interfaces for new/updated rtc
  • [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-auto-balancer.l] Use 4limbs in startAutoBalancer when Groups has rarm and larm and update sample. #866
  • add reference remaining_time in /ref_contact_states #857
  • Add method of servo-state #853
  • Add calc velocity from velocity offset #842
  • Add euslisp style argument for leg_default_translate_pos #836
  • Add grasp controller interface methods.l #831
  • Enable to set optional-data from robot and contact-state #831
  • Add optionalData from euslisp rs-list #822
  • add stabilizer-end-coords-list #820
  • Update setter methods #818
  • Add ":set-foot-steps-with-param-and-base-height" method in order to specify footstep with params and base height #811
  • update default-zmp-offsets interface according to hrpsys-base change #808
  • add an interface for multi legs footsteps #795
  • get ref-capture-point from Stabilizer rtco #794
  • update AutoBalancerParam according to https://github.com/fkanehiro/hrpsys-base/pull/750 #786
  • get cp from Stabilizer rtc #781
  • Update footstep methods to enable overwriting #775
  • get emergency-mode from robot-interface #772
  • Add calculation of sole edge #759
• Add PointCloudROSBridge and RangeSensorROSBridge, and modify ImageSensorROSBridge #785
  • [src/RangeSensorROSBridge.cpp] add intensity parameter for adding intensities #802
  • [src/ImageSensorROSBridge.cpp] fix parsing camera parameter #798
  • [src/ImageSensorROSBridge.cpp] fix bug / reset debug counter #797
  • [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Use collada_urdf_jsk_patch in order to convert dae into urdf which can be used in gazebo #793
  • [src/ImageSensorROSBridge.cpp] add camera param setter by ros parameter #791
  • [src/PointCloudROSBridge.cpp] fix PointCloudROSBridge, color and frame #790
  • [src/RangeSensorROSBridge.cpp] fix RangeSensorROSBridge / time_increment is zero #788
  • [src/RangeSensorROSBridge.cpp] fix frame of RangeSensor #789
• Add rsvel port (#807)
  • [src/HrpsysSeqStateROSBridge.cpp, launch/hrpsys_ros_bridge.launch] add rsvel port to HrpSeqStateROSBridge read dq in order to add velocity values to joint_states
  • [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] add USE_VELOCITY_OUTPUT to arguments of rtmlaunch #821
• Add ObjectTurnaroundDetector methods #838
  • [src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update latest st parameter for torque control
  • [euslisp/rtm-ros-robot-interface.l] Add set-ref-force time #838
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add ObjectTurnaroundDetector methods
  • [test/hrpsys-samples/samplerobot-carry-object.l] Add carry object euslisp sample #838
• SLAM support
  • [hrpsys_ros_bridge/src/hrpsys_ros_bridge/hrpsys_dashboard.py] Add MapButton for SLAM and odometry #869
  • [src/HrpsysSeqStateROSBridge.cpp] Transform twist from local to global in pose covarance calculation because pose is in global #830
  • [src/HrpsysSeqStateROSBridge.cpp] Set root_link as child_frame_id and describe twist in child_frame_id coordinate #828
  • [src/HrpsysSeqStateROSBridge.cpp] Fix covariance calculation in HrpsysSeqStateROSBridge: previous verision calculation only can be applied in nonhoronomic robot #812
  • [src/HrpsysSeqStateROSBridge.cpp] Fix coordinate representation: omega in twist is global
  • [src/HrpsysSeqStateROSBridge.cpp] Calculate covariance of odometry in HrpsysSeqStateROSBridge
  • [src/HrpsysSeqStateROSBridge.cpp] update prev_odom only when odom is successfully updated in dt > 0
  • [src/HrpsysSeqStateROSBridge.cpp] Calculate angular twist
• Special joint support #837
  • [models/samplespecialjointrobot.yaml, catkin.cmake] Add cmake setting and euscollada yaml for special joint robot
• add ContactState.msg, ContactStateStamped.msg, ContactStatesStamped.msg #834
  • [msg/ContactState.msg] Add frame_id to contact states messages
  • [launch/hrpsys_ros_bridge.launch, src/HrpsysSeqStateROSBridge{,cpp,.h,Impl.cpp,Impl.h}] separate ContactStates.msg into ContactState.msg, ContactStateStamped.msg and ContactStatesStamped.msg
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add euslisp interface to get contact states
  • [hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp] add contact states publisher of AutoBalancer and Stabilizer
  • [msg/ContactState.msg] add ContactStates.msg for legged robots
• Sample codes
  • [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py, src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py] set ThermoLimiter parameters to decrease debug messages #849
  • [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py] update sample4legrobot st and abc parameters, set st and abc parameters #847
  • [hrpsys_ros_bridge/src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update st vertices setting #819
  • [src/hrpsys_ros_bridge/sample4legrobot_hrpsys_config.py, models/sample4legrobot.yaml, euslisp/sample4legrobot-interface.l, catkin.cmake] Add sample4legrobot generation if exists #817
  • [euslisp/sample4legrobot-interface.l] Update path hrpsys_ros_bridge_tutorials -> hrpsys_ros_bridge #817
  • [catkin.cmake] Add check for sample_4leg_robot existence #817
  • [hrpsys_ros_bridge/src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py] Update st damping parameters #809
  • [hrpsys_ros_bridge/catkin.cmake, src/hrpsys_ros_bridge/samplerobot_hrpsys_config.py, test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Enable euslisp unittest for unstable rtcs #806
  • [scripts/default*.launch.in,,cmake/compile_robot_model.cmake] Use arguments to specify whether unstable or not #806
  • [hrpsys_ros_bridge/test/hrpsys-samples/samplerobot-unittest.l, samplerobot-auto-balancer.l] Update auto-balancer test functions and update unittest order #806
  • [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Add collision detector test #805
• Move euslisp sample code from roseus_tutorials #800
  • [hrpsys_ros_bridge/test/hrpsys-samples/test_samplerobot_euslisp_unittests.launch] Add rostest launch file for euslisp unittest and use .launch instead of .test.
  • [hrpsys_ros_bridge/test/hrpsys-samples, hrpsys_ros_bridge/euslisp/samplerobot-interface.l] Fix package name for sample robot euslisp files (hrpsys_ros_bridge_tutorials -> hrpsys_ros_bridge)
• Use emergency stopper by default for unstable rtc robots #760
  • [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Use emergency stopper by default for unstable rtc robots
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Add method for emergency stop methods
  • [hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l] Enable to set rosbridge name for idl srv methods.
  • [hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch] Add emergency stopper ROSBridges
  • [scripts/diagnostics.py] publish diagnostic of emergency_mode from diagnostics.py #780
  • [src/HrpsysSeqStateROSBridge{,cpp,.h,Impl.cpp,Impl.h}] publish emergency_mode from EmergencyStopper rtc #763
• Contributors: Eisoku Kuroiwa, Kei Okada, Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Tatsuya Ishikawa, Yohei Kakiuchi, Yuta Kojio, Iori Kumagai

1.2.14 (2015-06-23)

• [hrpsys_ros_bridge] Add splash screen to hrpsys dashboard
• Enable to set step time for each foot steps and update documentation
• Add emergency walking stop and update documentations
• [hrpsys_ros_bridge] set position of imu_floor zero
• Add method to get remaining foot steps and displaying method
• [cmake_compile_robot_model.cmake] get_filename_component DIRECTORY is only available > cmake 2.8.12
• Publish cop position in end link frame
• Publish COP for each end effectors. COPInfo is provided by Stabilizer.
• Add --use-robot-hrpsys-config argument to compile robot old (added to compile robot in 54e64bf3c4131fc907c6b7c0a34d728f82948e76)
• Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.2.13 (2015-06-11)

• [launch/hrpsys_ros_bridge.launch] Add USE_ROBOT_POSE_EKF
• [euslisp/rtm-ros-robot-interface.l] fix typo
• [euslisp/rtm-ros-robot-interface.l] Add :adjust-foot-steps-roll-pitch to reset current foot steps
• [euslisp/rtm-ros-robot-interface.l] Add toe heel angle for :set-foot-steps-with-param-no-wait
• [euslisp/rtm-ros-robot-interface.l] Add argument for transition times
• [euslisp/rtm-ros-robot-interface.l] Use current foot midcoords of rleg and lleg in roll pitch method
• [euslisp/rtm-ros-robot-interface.l] Add adjust footsteps euslisp interface
• [euslisp/datalogger-log-parser.l] Add function to dump seq pattern file from datalogger log
• [euslisp/rtm-ros-robot-interface.l,uslisp/rtm-ros-robot-interface.l] Add force moment param zerosettin method and use it in calib program
• [euslisp/rtm-ros-robot-interface.l] raise error when bridged service call failed
• [euslisp/rtm-ros-robot-interface.l] Make interpolation-time in sync-controller shorter
• [euslisp/rtm-ros-robot-interface.l] Add :set-foot-steps-with-base-height
• [euslisp/rtm-ros-robot-interface.l] Fix typo in start method. Start auto balancer by legs.
• [euslisp/rtm-ros-robot-interface.l] Add euslisp methods for default unstable controllers
• [src/HrpsysSeqStateROSBridge.cpp] imu_floor again
• [src/hrpsys_ros_bridge/hrpsys_dashboard.py] add st/abc/ic start at once button
• [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] Enable to specify robot specific hrpsys_config.py
• [launch/hrpsys_ros_bridge.launch] Add argument to specify periodic rate of seq ros bridge
• [euslisp/rtm-ros-robot-interface.l] add hours, minutes and seconds for :save-log
• [.travis.yaml, hrpsys_ros_bridge/catkin.cmake] add eusdoc
• [euslisp/rtm-ros-robot-interface.l] Support t or nil in setter arguments
• Contributors: Eisoku Kuroiwa, Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Iori Kumagai

1.2.12 (2015-04-27)

• [euslisp/rtm-ros-robot-interface.l] Update function to calculate toe heel offset. Support both pos and zmp and add documentation
• [hrpsys_ros_bridge/cmake/compile_robot_model.cmake] fix for --conf option with comment
• Contributors: Kei Okada, Shunichi Nozawa

1.2.11 (2015-04-25)

• [catkin.cmake] add depend to pr2_controllers_msgs in catpkin_package
• [cmake/compile_robot_model.cmake] fix dependency add_custom_depend need to DEPEND to other target
• [euslisp/rtm-ros-robot-interface.l] Add calculate-toe-heel-pos-offsets and set-foot-steps-with-param
• Contributors: Kei Okada, Shunichi Nozawa

1.2.10 (2015-04-24)

• add rewrited version of compile_robot_model.cmake
  • [compile_robot_model.cmake] generate controller_config even if yaml is not found
  • [compile_robot_model.cmake] use add_custom_target/command for eusif and launch, set PROJECT_PKG_NAME
  • [compile_robot_model.cmake] rewrite everything from scratch
• euslisp
  • [rtm-ros-robot-interface.l] Add method to align footsteps with roll or pitch angle
  • [datalogger-log-parser.l] change max-line count method
  • [rtm-ros-robot-interface.l] Add sync-controller method, which preserve limb-controller angle before remove-joint-group is called.
  • [rtm-ros-robot-interface.l] Enable to set gravitational acceleration for calculating st parameter
• [HrpsysSeqStateROSBridgeImpl.{cpp,h}] display more debug info for diagnostics
• [cmake/compile_robot_model.cmake] Revert "compile_robot contains output files, not targets"
• [hrpsys_ros_bridge/package.xml] Limits dependent pkg version to avoid critical error in downstream (tork-a/rtmros_nextage/#160)
• Contributors: Eisoku Kuroiwa, Isaac IY Saito, Kei Okada, Shunichi Nozawa, Iori Kumagai

1.2.9 (2015-04-11)

• [package.xml] remove pr2_controllers, add pr2_controller_msgs, pr2_msgs, control_msgs package.xml
• [collision_state] fix to work collision state
  • [collision_state.py] fix minor bug of collision_state.py CORBA.OBJECT_NOT_EXIST -> omniORB.CORBA.OBJECT_NOT_EXIST
  • [collision_state.py] check isActive() to avoid raise error during servo on phase
• [hrpsys_ros_bridge/catkin.cmake]
  • move rtmlaunch/rtmtest from hrpsys_ros_bridge to openrtm_tools, add envhook for catkin users
• [hrpsys_tools/hrpsys.launch] support DEBUG_HRPSYS argument to run rtcd with gdb
• [hrpsys_ros_bridge/cmake/compile_robot_model.cmake]
  • Add dependency from the files generated by export_collada to compile_robots in order to prevent parallel execution of export_collada
  • Check current if scope has parent scope when set variable in PARENT_SCOPE in compile_robot_model.cmake to supress warning messages
  • Fix serious typo: daefile -> _daefile in compile_robot_model.cmake
  • fix warning in if/endif macro
  • compile_robtos should be list of all generated lisp file, not targets
• [euslisp/rtm-ros-robotics-interface.l]
  • Add impedance controller mode getter method
  • Return Euslisp coordinates from :get-foot-step-param
  • Add methods to get Euslisp style parameters from IDL enum type
  • Add comments for st methods
  • Add methods to tune st parameter
  • Add functions to calculate eefm st parameters
  • Fix order of ee setting
  • Pass arguments for joint-properties to ProjectGenerator
• Contributors: JAXON, Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.2.8 (2015-03-09)

• [hrpsys_ros_bridge] Do not run collada_to_urdf parallel. In order to avoid parallel execution of collada_to_urdf, add tricky dependency

• Add graspless manip mode euslisp interface

• [test-*.py] test name could not contain minus? any changet to underscore (http://answers.ros.org/question/197377/rostest-not-finding-the-actual-test/)

  System Message: WARNING/2 (<string>, line 543); backlink

  Inline emphasis start-string without end-string.

• [test-samplerobot.py] fix syntax error on loadPattern

• update for legged robot

• Sample.pos is not installed via deb package, see https://github.com/fkanehiro/openhrp3/issues/46

• Fix rmfo sensor argument

• copy rtmlaunch,rtmtest to global_bin when compile

• Add method to calculate go-velocity param from velocity center offset

• Add menus for unstable rtcs (not used by default)

• Add setting for HrpsysConfigurator in hrpsys dashboard and apply it to servoOn/Off menu (disabled by default).

• Remove unused initial leg offsetting because this is implemented AutoBalancer's setFootSteps

• [hrpsys_ros_bridge] Refactor compile_robot_model.cmake

• Use ee name for impedance methods

• [hrpsys_ros_bridge] collision_state.py: need to wait for activate

• [hrpsys_ros_bridge] sensor_ros_bridge_connect.py: wait for sh, sometimes we can not find them

• Update impedance start/stop methods

• [hrpsys_ros_bridge] Do not call export_collada in parallel

• Update :reset-force-moment-offset funcs and add documents

• Update documentation strings for ImpedanceController and Ref forces

• [hrpsys_ros_bridge] Fix path for catkin build

• pass :rarm instead of 'rhsensor' or 'rasensor' to :set-forcemoment-offset-param

• Add seq base pos and rpy methods

• Remove duplicated method and fix argument passing for imp methods

• Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Eisoku Kuroiwa

1.2.7 (2015-01-06)

• Add :reference-root-coords method for log
• Update datalogger parser time parsing and robothardware naming
• Add euslisp methods for seq wait interpolation and co get status
• Enable virtual force setting. Read conf file in HrpsysSeqStateROSBridge and connect vfs ports if exists
• Add set ref force and moment methods. Enable vforcesensors
• change robot-init function to pass arguments to initializer
• Set default name as co
• Use segment name of body_info as collision detection frame_id
• Add argument to select collision_state.py activation because collision_state.py can be launched in hrpsys_ros_bridge.launch
• Enable to configure collision detector instance name
• Use subscription_type as new to avoid influence on realtime process
• (rtm-ros-robot-interface) : Add optionaldata for dump-seq-pattern-file
• (rtm-ros-robot-interface) : Add function to load seq pattern file and euslisp list from it.
• (rtm-ros-robot-interface) : Add documentation string for dump-seq-pattern-file
• Fix frame of loadPattern
• Add euslisp interface method for reference wrench
• Publish reference wrench from StateHolder wrench data ports. Check existence of wrench ports because hrpsys-base 315.1.9 does not have wrench ports in Seq and Sh.
• Add RMFO calib readme
• Update RMFO calibration sequence. Use parameter file
• Add load and dump rmfo param methods
• Separate robot date string as method and fix :save-log default argument
• on indigo, hrpsys is not ros-catkin package
• fix for new packaging openrtm/hrpsys (compile package directoly from original repository)
• Fix typo of hrpsys_ros_bridge.launch
• Add USE_HRPSYS_PROFILE to toggle whether running hrpsys_profile
• Add parameter ~publish_sensor_tf to HrpsysSeqStateROSBridge to toggle publishing tf frames of the sensors
• Fix unitsystem for documentation
• Add directory to generate Euslisp documentation
• Enable to set integer enum values
• (rtm-ros-robot-interface) : Fix typo in save-log
• (rtm-ros-robot-interface) : Add date string and robot name to Datalogger log name by default.
• (rtm-ros-robot-interface) : Update seq methods. Revise set-interpolation-mode using defconst param and remove deprecated dump-seq parttern
• Merge remote-tracking branch 'origin/master' into tmp_update_impedance_controller_methods
• (rtm-ros-robot-interface) : Update impedance controller setter and getter
• (rtm-ros-robot-interface) : Remove deprecated euslisp interface and functions.
• Update rtmbuild_init to specify dependency of generate_messages and add new service interface to HrpsysSeqStateROSBridge to specify transformation for each sensor
• Merge pull request #583 from eisoku9618/update-print-end-effector-parameter-conf-from-robot Merged.
• do not print a leading colon of :rarm
• (rtm-ros-robot-interface) : Enable to set st algorithm as Euslisp symbol.
• remove unnecessary white spaces
• rename total time of 1 cycle from RobotHardware0 to Summary
• add eps_of_rh variable in order to reduce unnecessary for loop
• (test-samplerobot) : Import all srv files in test-samplerobot.py discussed in https://github.com/start-jsk/rtmros_common/issues/558
• (default_robot*.launch.in) : Add argument for precreate controller
• (rtm-ros-robot-interface) : Update :set-gait-generator-param method to use defconstant enum values and add printing method
• (datalogger-log-parser) : Add abc baseTform reading
• Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa

1.2.6 (2014-10-10)

• set time-limit to 300
• (test-samplerobot.py) fix test case, since /clock is sync with hrpsys time, so we can use more strict settings
• fix test code for changing 0.002
• (rtm-ros-robot-interface) : Add documentation strings for state methods and rearrange it. Add logger documentation.
• Contributors: Kei Okada, Shunichi Nozawa

1.2.5 (2014-10-04)

• Improvement on rtm-ros-robot-interface, datalogger-log-parser, samplerobot
• Fix stamp of odom and imu
• Improve dependency: robot_pose_ekf.launch, robot_pose_ekf
• Contributors: Kei Okada, Shunichi Nozawa, YoheiKakiuchi

1.2.4 (2014-09-08)

• (test/test-pa10.test) support GUI argument
• (test/test-pa10.py) add test for /command
• (hrpsys_ros_bridge/src/HrpsysJointTrajectoryBridge.cpp) support <controller>/command, see #537
• (README.md) fix document, based on snozawa's comment
• Contributors: Kei Okada

1.2.3 (2014-09-03)

1.2.2 (2014-08-31)

• (rtm-ros-robot-interface)
  • Define Euslisp setter and getter from param slots names
  • Update set-st-param for Stabilizer
  • Add KalmanFilter ROS Bridge and euslisp interface to hrpsys_ros_bridge.launch
  • Add calibrate-inertia-sensor
  • Add new arguments for new st param
  • Fix end-effector name (without colon) according to https://github.com/fkanehiro/hrpsys-base/pull/301
  • Update abc and st euslisp interface according to idl update, fkanehiro/hrpsys-base#239
  • Access robot-state's imu in callback to fix https://github.com/start-jsk/rtmros_tutorials/issues/67
• Use catkin_make -C to change direcotry (Fix #523)
• (datalogger-log-parser.l)
  • Support https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/3200b63dfcbd3c02b919fe6ad03c425e5057ee5c commit
  • Support both reference worldcoords and actual worldcoords ;; StateHolder's value is reference and kf is actual.
• added make-default-ForceCalibPosesForLegs to euslisp/calib-force-sensor-params.l
• (Force sensor)
  • fixed accessing to force sensor in calibration function
  • fix AbsoluteForceSensorService -> RemoveForceSensorLinkOffsetService
• (compile_robot_model.cmake, hrpsys.launch, hrpsys_tools_config.py) Add argument to use Unstable RTC List and configure it from cmake discussed in https://github.com/start-jsk/rtmros_gazebo/pull/61
• Contributors: Kei Okada, Kunio Kojima, Shunichi Nozawa, Masaki Murooka, Isaac IY Saito

1.2.1 (2014-06-23)

• add euscollada path for compile collada model
• Merge pull request #495 from k-okada/add_servo_controller hrpsys_ros_bridge.launch: add servo controller
• (datalogger-log-parser.l) : Check existence of zmp value and rpy value
• hrpsys_ros_bridge.launch: add servo controller fix rtmlaunch options (thanks to @hyaguchijsk)
• does not use group tag, just use unless tag to disable connection between sh.rtc:baseTformOut and baseTform
• (hrpsys_ros_bridge/package.xml) run_depend on ipython
• (hrpsys_ros_bridge/package.xml) Sort in alphabetical order
• (rtm-ros-robot-interface.l, datalogger-log-parser.l) Update imu euslisp methods ;; We should use /imu instead of tf according to https://github.com/start-jsk/rtmros_common/pull/477
• hrpsys_ros_bridge/euslisp/datalogger-log-parser.l:add reading zmp data from hrpsys log file
• Merge pull request #458 from snozawa/rotate_camera_z_axis Rotate sensor->localR 180[deg] because OpenHRP3 camera -Z axis equals to ROS camera Z axis
• Merge pull request #477 from garaemon/add-imu-topic-remove-imu-floor Add /imu topic and /odom topic remove imu_floor
• Merge pull request #460 from k-okada/hrpsys_version_gte set hrpsys version greater than 315.2.0
• update pa10 test code
• publish Imu value to /imu topic and odometory value to /odom.
• fix ProjectGenerator path for compile_collada_model
• update .gitignore for auto generated files under hrpsys_ros_bridge directory
• rtmlaunch; Add usage api doc
• hrpsys_ros_bridge/euslisp/datalogger-log-parser.l : update state methods and add eof check
• hrpsys_ros_bridge/README.md, hrpsys_ros_bridge/euslisp/README.md : add README for hrpsys_ros_bridge and euslisp usage
• hrpsys_ros_bridge/euslisp/datalogger-log-parser.l : support force sensor reading
• hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l : update sensor accessor commited in https://github.com/euslisp/jskeus/pull/92
• (package.xml files) Update repository URLs
• (start-jsk/rtmros_common/pull/397) hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch, hrpsys_ros_bridge/scripts/sensor_ros_bridge_connect.py : rename AbsoluteForceSensor => RemoveForceSensorLinkOffset
• (collision_detector.launch) add default model file path using one fromreal robot
• ( https://github.com/start-jsk/rtmros_gazebo/issues/44 ) hrpsys_dashboard.py: add 'import re' for using regular expression
• add generation of hrpsys_config for robots using unstable RTCs ;; add configuration for unstable RTCs in cmake ;; by default, do not nothing, so there will be no side effect for robots only using Stable RTCs
• set RTCTREE_NAMESERVERS environment variables, for #453
• pass args to super class
• set hrpsys version greater than 315.2.0
• Rotate sensor->localR 180[deg] because OpenHRP3 camera -Z axis equals to ROS camera Z axis http://www.openrtp.jp/openhrp3/jp/create_model.html
• add samplerobot.rviz
• hrpsys_ros_bridge/collision_state.py) Use logerr to highlight an error that could be overlooked
• (HrpsysJointTrajectoryBridge) ros cpp style macro applied.
• Contributors: Isaac Desu Saito, Isaac IY Saito, Isaac Isao Saito, Kei Okada, Kunio Kojima, Ryohei Ueda, Tatsushi Karasawa, YoheiKakiuchi, mmurooka, nozawa

1.2.0 (2014-05-14)

• bump to 1.2.0for hrpsys 315.2.0

1.0.12 (2014-05-06)

• (collision_detector.launch) typo
• use odom instad of imu_floor
• do not connect port when afs is not found
• set WALKING and IMPEDANCE controller as non-default RTC
• update generate config.yaml
• add both Robot(Robot)0 and RobotHadware0 in datalogger
• add scripts for auto generating controller config yaml
• Use subprocess.Popen rather than check_call in order to call external process asynchronouslly
• pass argument to get-ROSBridge-method-defmacro method
• add generating urdf file to compile_robot_model.cmake
• Merge pull request #433 from k-okada/do_not_compile_idl_twice do not update manifets.xml and copy idl when it is not needed (#429)
• implement hrpsys_dashboard base on rqt, not on rxtools
• do not update manifets.xml and copy idl when it is not needed (#429)
• rename base-pos and base-rpy => root-pos and root-rpy
• add reading of datalogger properties
• set REALTIME=ture as default
• update :start-auto-balancer and :stop-auto-balancer method according to hrpsys-base trunk update at https://code.google.com/p/hrpsys-base/source/detail?r=1039 commit ;; we do not need to change usage of these methods
• Contributors: Isaac Saito, Kei Okada, Ryohei Ueda, YoheiKakiuchi, Shunichi Nozawa

1.0.11 (2014-04-16)

• use random staritng port number for rtm_naming, also try to continue if name server is already running
• Contributors: Kei Okada

1.0.10 (2014-04-15)

• remove sed to comment out pr2_controllers
• Contributors: Kei Okada

1.0.9 (2014-04-14)

• (hrpsys_ros_bridge) add git to build_depend
• Contributors: Isaac IY Saito

1.0.8 (2014-04-14)

• use git:// for download pr2_controllers (potential fix for #410)
• add rosdnode to depends(see https://github.com/jsk-ros-pkg/jsk_roseus/pull/65, #411)
• add euscollada_SOURCE_PREFIX and euscollada_PREFIX
• use start_omninames.sh for rosdevel build environment, see #400
• remove deprecate function to generate conf parameter
• Added procps, hostname, net-tools build_depends. These tools are used during building and testing
• Contributors: Kei Okada, Scott K Logan, Shunichi Nozawa

1.0.7 (2014-03-20)

• call find_package(catkin) fist
• #22: add PROJECT_NAME to the target used in compile_robot_model to avoid collision of the target names
• add rostest/hrpsys_tools to depends and find_package
• hrpsys_ros_bridge: (test-compile-robot.launch) add test-compile-robot.launch (but is is not includeded in CMakeLists.txt and use .launch instead of .test due to Issue #87), fix compile_robot_model.cmake work with devel of hrpsys_ros_bridge, disable launch script from test-compile-robot.sh
• hrpsys_ros_bridge: add test-compile-robot.sh test-compile-robot.xml test-compile-robot.cmake
• check hrpsys_ros_bridge SOURCE_DIR for both SOURCE_DIR and PREFIX
• hrpsys_ros_bridge: use catkin package of pr2_controllers_msgs
• hrpsys_tools, hrpsys_ros_bridge: increase retly to 4 for test
• hrpsys_ros_bridge: install/lib/python2.7/dist-packages/hrpsys_ros_bridge/__init__.py disappeared somehow? this is temprarily fix (FIXME)
• hrpsys_ros_bridge: fix compile_robot_model.cmkae, use find_package to set /lib/openrtm_aist/bin/rtm-naming /lib/openhrp3/export-collada
• collision_state.py: display with logwarn when CollisionDetector is not found
• hrpsys_ros_bridge, fix path for installed conf/dae/launch files
• compile_robot_model.cmake: add debug message in generate_default_launch_eusinterface_files
• hrpsys_ros_bridge: (test-samplerobot.py, test-p10.py), increase timeout of watForTransform() and catch exception if tf is not found
• collision_state, wait until co is found, if not found exit with 0, not 1
• hrpsys_profile.py add Exception
• hrpsys_ros_bridge: add collada_urdf to depends
• hrpsys_profile.py: run hrpsys_profile within try block
• hrpsys_profile.py: remove undefined variables
• hrpsys_ros_bridge: add visualization_msgs to depeds
• hrpsys_ros_bridge: fix ProjectGenerator location, see #353
• hrpsys_ros_bridge: add test code for samplerobot and pa10
• hrpsys_ros_bridge: add diagnostic_aggregator to depend (manifest.xml package.xml)
• hrpsys_ros_bridge: add more args to default_robot_*.in (GUI, SIMULATOR_NAME, corbaport)
• add comment on why we remove depend to pr2_controllers_msgs
• (package.xml) add angles to build_depend intentinally dut to build_depend to tf does ont install angles
• (manifest.xml) commented out depend package pr2_controllers_msgs for rosmake dependency graph generation, but comment in for rosmake build objects
• (manifest.xml) if you have both rosdep and depend, rosmake does not work well, see https://github.com/jsk-ros-pkg/jsk_common/issues/301
• (manifest.xml) users are expected to manually install ros-groovy-pr2-dashboard
• (CMakeLists.txt) download pr2_controllers_msgs for groovy/rosbuild
• fix typo ;; elif -> elseif
• add
• Wrong catkin macro (CATKIN-DEPENDS to CATKIN_DEPENDS).
• change destination of stdout of rtmlaunch.py by OUTPUT arg
• add CMAKE_PREFIX_PATH so that rosrun hrpsys ProjectGenerator works
• Merge pull request #334 from k-okada/master
• add openhrp3_PREFIX, more debug message
• add / after hrpsys_idl_DIR
• add hrpsys to find_package
• add more verbose log when error
• update PKG_CONFIG_PATH for hrpsys-base
• display error output
• add depend to pkg-config
• add depend to pkg-config
• added euslisp, srv, idl directories to install
• move to git repository
• add hrpsys to find_package
• add more verbose log when error
• Merge branch 'master' of http://github.com/k-okada/rtmros_common
• display error output
• add depend to pkg-config
• add depend to pkg-config
• update PKG_CONFIG_PATH for hrpsys-base
• Merge branch 'master' into garaemon-master
• not generating sh but running rostes directory to avoid escape problem
• Merge branch 'master' of http://github.com/k-okada/rtmros_common
• use pkg-config to find directories
• Merge branch 'master' of https://github.com/start-jsk/rtmros_common
• move to git repository
• added euslisp, srv, idl directories to install
• fixing list syntax
• force to set ROS_PACKAGE_PATH when calling euscollada for catkin build
• adding LD_LIBRARY_PATH
• remove depend to robot_monitor
• changing the working directory when call export-collada
• do not compile lisp code if euxport collada is not exists
• add diagnositcs_msgs to fake rosdep
• add dynamic_recofigure to fake rosdep
• add several rosdep names to fake rosdep
• add rosdep hrpsys/openrtm_aist to fake rosdep
• profibit to run rostest parallel
• installing src directory as python package
• (hrpsys_ros_bridge/package.xml) Partially revert r6936 where a dependency was removed by mistake.
• Contributors: Kei Okada, Ryohei Ueda

1.0.6

• rtmros_common-1.0.6
• (rtmros_common, openrtm_ros_bridge, hrpsys_ros_bridge) Cleaning and elaborating package.xml
• add setting for CONF_DT_OPTION
• set corba port to 15005 in euslisp model dump function
• fix proble due to r6908, also remove find_package since hrpsys can not find-packed-ed
• add hrpsys_tools to depends on openrtm_tools, see Issue 309
• set custom cmake file under CFG_EXTRAS, so that other package is abel to use macros defined in the cmake file
• generate /tmp/_gen_project_**.sh file to invoke rostest since rostest needs package path, see Issue 306
• installing euslisp directory of hrpsys_ros_bridge when catkining
• not use rosbuild for catkin
• fixing close tag in nosim.launch
• add RUN_RVIZ arg in default launch template files
• add REALTIME arg in hrpsys-simulator launch template files
• fix position of long floor
• add :torque-vector for playpattern
• add reference torque vector data reading
• update initialization to neglect log files which lines are not match ;; convert rad2deg
• fix typos ;; wf -> zf
• add .zmp file dump
• add fname for datalogger-log-parser
• use .rviz file for .in file
• add datalogger log parser for euslisp
• enable to se PROJECT_FILE name
• remove unnecessary print function
• fix hrpsy_ros_bridge.launch for hrpsys version 315.1.5
• add :zmp-vector and callback ;; acc print function for end_effectors in conf file
• add argument for tm
• add type_name to SensorInfo ;; use it in imu_floor tf sending ;; for almost all robots, frame name is 'gyrometer'
• write seq pattern file separatively ;; do not dump .waist file if :root-coords does not exist
• publish zmp as PointStamped
• add zmp data port for HrpsysSeqStateRosBridge
• add euslisp utility fnuction for seq pattern file
• fix syntax error
• set_stale when op_mode is not Servo ON nor Servo Off
• move hrpsys_profiel out of USE_DIAGNOSTICS
• rename USE_DIAGNOSTICS <- LAUNCH_DIAGNOSTICS args
• add LAUNCH_DIAGNOSTICS args
• add use_diagnostics, use_rosout, use_battery option in __init__
• using prefix for sensor-name
• add debug print, when body->joints().size() and m_servoState.data.length() is not equal
• split hrpsys_dashboard into hrpsys_dashboard and src/hrpsys_ros_bridge/hrpsys_dashboard.py, see Issue 270
• fix color
• change sphere radius depends on dangerness
• rosbuild does not raise exception when import roslib, use import hrpsys
• add utility functions for project generator xml file
• add argument to set timeStep according to hrpsys-base -r905 commit ;; we can set timeStep <= dt ;; http://www.openrtp.jp/openhrp3/jp/create_project.html
• enable to add :root-coords which is optional robot states
• fix typo ;; tile -> time
• change line width depends on the distance

1.0.5

• "rtmros_common-1.0.5"
• reverse rpy-angle because euslisp rpy is 'yaw pitch roll' and openhrp3 rpy is roll pitch yaw
• pkill kill cmake itself, not why, so create shell script and execute it
• use find_package for hrpsys and hrpsys_tools
• fix Issue 256
• do not depends to lisp file if euscollada is not exists
• fix missing variable _collada2eus to _collada2eus_exe
• do not FATAL_ERROR when collada2eus is not found
• fix for catkin compile
• add debug message
• use full path instead of rosrun/rostet for when two binaries are installed
• fix for catkin, catkin does not requires load_manifest
• apply patch in Issue 254
• fix ROS_DISTRO->groovy, this code only used in groovy
• fix sed command
• fix typo ENV=>
• add rostest to run_depend
• set pr2_controllers to build/run depends and fix catkin.cmake to comment out therese tags if groovy
• distance under 0.05 always red
• translate line information relative to root_link_frame
• add lifetime
• add standalone collision detector launch file, see #249
• fix color
• add error message more verbose
• catch CORBA.OBJECT_NOT_EXISTS
• rename typo collistion_state.py collision_state.py
• add collistion_state.py in launch file, Issue 249
• add collistion_state.py, Issue 249
• fix length of force list for resetting
• fix compile_openhrp_model for catkin, see Issue 241

1.0.4

• "rtmros_common-1.0.4"
• update with r5733

1.0.3

• "rtmros_common-1.0.3"
• remove :start and :stop abc in go-pos and go-velocity
• update to use from hrpsys.hrpsys_config import *, due to change at https://code.google.com/p/hrpsys-base/issues/detail?id=128, Fixed Issue 231, Fixed Issue 219
• add end-effector parameter print function for abc

1.0.2

• "rtmros_common-1.0.2"
• use connection as new
• add calc-zmp-from-state method
• add loading of utils file if exists
• fix typoes ;; _name -> _sname
• get current additional_make_clean_files and append setting to it ;; use _sname instead of overwriting _name
• add generated launch and euslisp files to clean target
• fix when rtmros_common is installed as catkin package, see Issue 214
• install cmake directory

1.0.1

• rtmros_common) 1.0.1
• rtmros_common) Revert wrong commit r5588
• rtmros_common) 1.0.1
• hrpsys_ros_bridge) fix to issue 205 (incomplete but worth trying)
• hrpsys_ros_bridge) Correction to r5584.
• hrpsys_ros_bridge) Improve package.xml description.
• add pr2_dashboard path to sys.path for those who could not import pr2_dashboard
• add comment when pr2_dashboard is not found
• hrpsys_dashboard) Fix to run with rosbuild.
• hrpsys_ros_bridge) add Isaac as a maintainer to get notice from buildfarm.
• add diagnostic_msgs to depends
• add roslang to depend
• use rtmbuild_PREFIX instaed of CMAKE_INSTALL_PREFIX to get rtmbuild.cmake
• fake rospack not to sudo rosdep install
• add python-rosdep and rosdep udpate to different execute_process
• do not set local for jenkins debuild
• copy rtmlaunch/rtmtest/rtmstart.py to both share and bin for backword compatibility
• add random string to pr2_controllers_msgs directory path
• workaround for ros-groovy-rqt-top installs wrong(?) psutil
• fix for new rtmstart.py
• add LC_ALL=en_US.UTF-8
• fix syntax error on previous commit
• add rosdep update when compile pr2_controlers_msgs
• unset *_LIBRARIES not to add library names to Config.cmake
• add python-psutil to depend
• add rosbuild to depends
• add mk
• add --non-interactive --trust-server-cert for svn
• use corba port number 15005
• install rtmtest and rtmstart.py
• remove svn:executable from rtmstart.py
• add rtmtest.py from rtmlaunch in order to add rtmtest, add alias rtmtest to rtshell-setup.sh
• add subversion for groovy, that download and compile non-catkinized pr2_controllers_msgs package
• download and compile pr2_controllers msgs which is not catlinized on groovy
• pr2_controllers is not catkinized on groovy
• add pr2_controllers to bulid/run_depend and use ROS_DISTRO to include pr2_controller_msgs directory
• add code for restarting jointGroup
• add remove-joint-group and remove obsolate code
• fix directory structure, see Issue 188
• add generating code of controller_config.yaml for using joint group
• checking the existance all joints in required group on HrpsysJointTrajectoryBridge (ignore not existing joint)
• fix : rearrange joint order in required goal
• forget to fix corba port to 15005, see Issue 141
• fix catkin.cmake for installed project
• add import OpenRTM_aist.RTM_IDL, for catkin
• print error message on detection of nan in imu_floor tf
• install FILES does not need USE_SOURCE_PERMISSIONS
• fix catkin.cmake, since openrtm_aist/openhrp3/hrpsys is compiled as non-catkin package (this means catkin_make does not install <package>.pc <package>Config.cmake and use DEPENDS not CATKIN-DEPENDS)
• fix to work on both rtmbuild and catkin environment
• ignore srv files whose name starts with . in rtm-ros-robot-interface, closes Issue 149
• fix for catkin
• check if port_number(5005) is already used, Fixed Issue 141
• comment out pr2_controllers
• change pr2_controllers_msgs -> pr2_controllers
• set default corbaport to 5005, Fixes Issue 141
• fix method name for set-joint-angles-of-group
• add add_dependencies to compile_hrpsys
• fix copy idl file from hrpsys/idl
• install rtmbuild from rtmbuild_SOURCE_DIR/CMAKE_INSTALL_DIR
• fix typo ;; COLLISIONCHEC => COLLISIONCHECK
• print name of ports
• add arguments to specify generated files
• add arguments to specify file generation
• rename macro ;; fix typo
• add nosim template and fix euslisp file name
• add macro to generate default launch files and euslisp interface
• wirte more debug comment to ROS_INFO_STREAM
• hrpsys_ros_bridge) Delete unused dependency. Alphabetize dependency.
• Remove unused components (robot_monitor).
• rtmros_common) Increment version to 1.0.0 (based on discussion https://code.google.com/p/rtm-ros-robotics/issues/detail?id=156&thanks=156&ts=1375860209).
• Updated all package.xml in rtmros_common metapkg (add URLs, alphabetized, cleanup, add Isaac as a maintainer to receive notice from buildfarm).
• check if USE_ROSBUILD is defined
• fix 2888 -> 2890 according to discussion of http://code.google.com/p/rtm-ros-robotics/issues/detail?id=139
• fix for catkin, with USE_ROSBUILD
• catkinize package
• add depends to openrtm_ros_bridge
• add openrtm_tools as depend
• add depends to hrpsys_tools
• workaround for Issue 150
• use hrpsys_ros_bridge for generating ROS service methods
• rtmlaunch.py was moved to openrtm_tools
• import from hrpsys_ros_bridge.srv instead of hrpsys.srv
• minor change
• hrpsys.launch now goes under hrpsys_tools and rename hrpsys.py to hrpsys_config
• add depends from hrpsys to hrpsys_tools, (hrpsys_tools to hrpsys is also exists, this this is intentially looped) so that users just depends on hrpsys
• change INCLUDE_DIRS from {prefix}/idl_gen/cpp/{prefix}/idl to {prefix}/idl_gen/cpp, so need to include <prefix/idl/hoge.h> instead of <hoge.h>, Issue 137
• ProjectGenerator is under hrpsys_tools not hrpsys: cleanup hrpsys, split hrpsys and hrpsys_tools, Issue 137
• copy idl from hrpsys/share/hrpsys/idl to hrpsys_ros_bridge/idl, Issue 137
• add depends to hrpsys_tools, Issue 137
• update openrtm -> openrtm_aist, hrpsys -> hrpsys_toolss: cleanup hrpsys, split hrpsys and hrpsys_tools, Issue 137
• fix port num ;; 2888 -> 2889
• run omniNames with port 2888 in compile_openhrp_model
• add USE_ROBOTHARDWARE
• check if server is active before send set preempt, this enables exit component cleanly, related to Issue 47
• fix miss commit ;; add temperature
• enable to store extra_data of motor_states
• use PeriodicExecutionContext instead of hrpExecutionContext, Issue 136
• launch node within group tags not to invoke unused component, see Issue 114
• add dt conf file option
• remove unnecessary copying of return value
• add _ret_add_str and remove duplicate codes
• fix position of return value setting
• do not specify if base-name is nil
• add connection for hrpsys_ros_bridge
• add dependency of _xmlfile on _xmlfile_nosim to achieve exclusive execution of rostest
• print port name in sensor_ros_bridge_connect
• adding some wait for waiting to update rosnode information
• fix return value if limb is nil
• fix separator of macro argumens
• fixes Issue 64, some packaed does not depends on euscollada, invoke rtm-naming within add_custom_command
• add dependency on euscollada, export-collada, and _gen_project.launch
• rename -xxx options -> --xxx options
• specify 2888 in pkill
• add macros to obtain options for _gen_project.launch and euscollada
• add get_option macro
• add INTEGRATE argument
• start model loader with 2888 port when launch _gen_project.launch
• do not make error, when collada2eus is not found, some package(hironx_ros_bridge) does not depends on euslisp
• add xml nosim to target
• add nosim option and generate nosim xml
• add robothardware conf option
• rename abs_xx -> off_xx
• add compile_collada_model to ALL
• fix (arg SIMULATOR_NAME)0 -> (arg SIMULATOR_NAME)
• rtmlauch.use_if.py -> rtmlaunch.py
• cleanup hrpsys_ros_bridge.launch, use if group, by miyake. Issue 114
• enable to load only link offset ;; use average value
• fix typo ;; params -> param
• add :reset-force-moment-offset
• support euslisp style argument for forcemoment and impedance methods
• use euscollada-model's :force-sensor methods instead of get-force-sensor-from-limb-name
• revert to use force-vector and moment-vector
• update to use absolute force vector for calibration
• add :imucoords method
• add port and connection for absolute force sensor values
• use AbsoluteForceSensor for impedanc Controller
• call :update-robot-state in super's :state methods
• check return value of imucoords from TF
• call rtc_init before rospy.init so that Issue 117
• neglect arguments added by roslaunch
• add rtmlaunch that runs omninaming and runs roslaunch, Issue 105, this is not tested on NameServer running on remote computer, see to https://code.google.com/p/hrpsys-base/issues/detail?id=117
• imu reading of update-robot-state
• fix wrong length of angles while uing JointGroup
• add ForwardKinematicsServiceROSBridge
• cleanup launch file Issue 114
• fix: condition for checking num of publisher
• fix: using walltime for waiting timeout
• remove miss commited comment out
• tf::Matrix3x3 causes compilation error in electric. use btMatrix3x3 instead
• do not publish tf which contains nan values
• chnage: detecting num of /clock publisher before starting and stoping subscribe /clock
• update footstep interface for abc
• add print message in starting
• add vel ratio
• add cmd vel mode
• check hrp::link parent existence because joint state with no name is published at previous version ;; This is OpenHRP3 'WAIST' joint specification. I should check OpenHRP3 model loading
• select a timestamp of force sensor messages according to use_sim_time
• get root-link name in :state :imucoords.
• add default-double-support-ratio setting
• add robothardware conf setting
• add macros for export_collada_option and conf_file_option
• add stabilizer methods
• comment out target_name and base_name and support default zmp offset
• add optional argument to collada2eus
• add stabilizer ros bridge
• enable to specify calib offset
• rename make pose function ;; support nodisplay usage
• add force sensor calib program
• add load-forcemoment-offset-param method
• add interface to specify sensor offset
• enable to access force-sensor by limb name
• make models directory in compile model macros when it doesn't exist
• set RobotHardware0 by default for SIMULATOR_NAME
• use SIULATOR_NAME instead of ROBOT_NAME in hrpsys_ros_bridge.launch ;; ROBOT_NAME argument in hrpsys_ros_bridge.launch is still remained for compatibility but please do not use ROBOT_NAME
• support limb name usage
• fix typos and add virtual force sensor stop method
• add connection for virtual force sensor
• fix keyword of set-servo-gain-percentage
• fix naming rule of virtual force sensor and fix quaternion -> axisangle
• add CONF_FILE_ARG and specify vitual_force_sensor by using conf file
• specify rtc manager name
• specify nameserver name and CORBA_init args
• rename value -> default
• use WAIST if base-name is nil ;; Is this correct?
• remove depends to pr2_dashboard for groovy, wait for fix
• change a name of imu tf and add a method to get imu coords in rtm-ros-robot-interface
• fix :set-base-pose in rtm-ros-robot-interface.l
• fix for publishing warning message
• add connection from state_holder(qOut) to rosbridge(mcangle)
• comment out port for RobotHardwareService because Simulator does not have RobotHardwareService
• add comment for groovy
• remove rtconnects between RobotHardware and KalmanFilter; this is achieved by hrpsys.py instead
• comment the IMU related rtconnects out for non IMU robots
• add basePos and baseRpy to HrpsysSeqStateROSBridge and connect in hrpsys_ros_bridge.launch
• modify rtm-ros-robot-interface.l: add set-servo-error-limit and set-soft-error-limit
• modify hrpsys_ros_bridge.launch to execute RobotHardwareServiceROSBridge and SoftErrorLimiterServiceROSBridge
• add default rate to hrpsys_ros_bridge
• check sensor existence for HRP4C
• use regiterInport for gyrometer and gsensor
• fix walking command and example
• use automatically generated methods
• add define-all-ROSBridge-srv-methods to define srv methods from srv and idl files ;; currently comment out
• add comments to hrpsys.py
• add getSensors and use it
• fix for hrpsys-base's r693 commit ;; fix for acc and rate naming rules
• make class to configure hrpsys RTCs and data ports
• add StateHolder rosbridge
• set subscription type new for real robot
• set subscription type new for real robot
• change name of a method for logger (Issue 74)
• add method for logger, Flxed Issue 74
• added rtconnect of torque in hrpsys_ros_bridge.launch
• remove autobalancer methods from sample
• add target2foot_offset_pos and rot
• add methods for get and set parameters for ABC
• enable multiple --conf-file-option
• add AutoBalancer for hrpsys.py and launch files
• add methods for auto balancer RTC
• add method to dump pattern file for Seq
• update check of virtual force sensor impedance control and add seq loadPattern
• enable to specify conf file setting for _gen_project.launch
• support virtual force sensor usage
• add sensor_ros_bridge_connect to connect sensor data ports based on ModelLoader's sensor information
• re-organize code, use IDL style method name for each service/idl and use euslisp style method name for wrapper of them
• enable to get force-vector and moment-vector
• add removeforcesensor offset interface
• add getImpedanceControllerParam and enable to set parameter individualy
• fix potision of argument in :start-impedance-impl
• fix typo ;; start-impedance in stop-impedance
• fix condision of limb for start and stop impedance
• add yaml depend in hrpsys_ros_bridge
• use :force-sensor method
• use root-link's parent by default
• fix bug of send*
• add methods for impedance controller
• fix name : use upper case for argument, (Fixes issue 65)
• add launch_ros_model argument to hrpsys_ros_bridge.launch
• fix number of clock publisher ;; publisher ==1 means no clock publisher other than HrpsysSeqRosBridge, which means HrpsSeqRosBridge should publish /clock
• add ImpedanceCOntroller service ROS Bridge
• check use_sim_time
• do not publish /clock when othre node pulishes
• rm config, no longer used?
• fix : move hrpsys_ros_bridge exmaple codes to hrpsys_ros_bridge_tutorials
• move hrpsys_ros_bridge exmaple codes to hrpsys_ros_bridge_tutorials
• add CollisionDetectionService interface to rtm-ros-robotics-interface.l
• add CollisionDetectorService
• add import time for sleep Use one depth queue for avoid sending multiple servo off message, Issue 32 Status: Fixed
• add setServoGainPercentage which is euslisp interface for idl2srv of RobotHardware RTC
• add controller configuration file to hironx_ros_bridge.launch
• add HIRONX_controller_config.yaml
• Added Log button to hrpsys_dashboard to call DataLoggerService/save
• add comment to why we need r3202
• add hrp4c sample for using joint group
• fix for using joint group
• add HrpsysJointTrajectoryBridge for using joint group
• fix directory name
• fix directory name
• mv euslisp programs to euslisp directory
• revert CMakeLists.txt
• add test code for calling seq group
• add comments
• add debug message to set-interpolation
• add :setBasePose method to rtm-ros-robot-interface.l
• add sequenceplayserservicerosbridge node
• fix by iori
• remove glc_cpature from rviz node
• fix for hrpsys 3.1.4
• support control_msgs/FollowJointTrajectoryAction
• update SIMULATOR NAME, set use_sim_time true
• remove debug code
• publich /clock from rsangle when /use_sim_time is true
• add euslisp interface for CollisionDetectorService.idl #37
• Comment out camera port connection in the simulator because it lacks lack versatility
• Changed StateHolder name from StateHolder to sh. Modified rviz argument from --sync to -sync. In electric, rviz may not work correctly.
• add emergence_stop.py
• adopted hrpsys_dashboard to fuerte.
• fix virtual force sensor setup
• check High Temperature
• mv SensorInfo to Impl, add virtual force sensor information
• support virtual_force_sensor option
• split diagnostics.py into diagnostics.py and motor_states.py
• add calib done, power on, servo alarm message to diagnostics
• add motor section
• write motor status to diagnostic
• add power indicator
• send servo alarm
• fix : update for hrpsys-base update
• update for hrpsys-base update
• fix hrpsys_profile, clean up codes
• fix gyrometer and gsensor to use TimedAcceleratoin3D and TimedAngularVelocity3D
• add darwin-vrml-file-path to reduce webots dependent path description
• use ros::resolve-ros-path instead of defined function get-rospack-find-str
• fix only indent
• fix file-name probing committed at r3127 ;; probe-file webots original vrml file instead of generated openhrp3 path
• ignore if DARwInOp.proto is not found
• set default rate to 10 ; this process consumes cpu power so much
• pre calculate sensor tf information
• remove old features, diagnositcs and JointTempleture, now we can you hrpsys_profile.py and servoState
• add extra_data for hrpsys-base revision 417
• read force sensor size and name from model file
• fix due to hrpsys update
• clean up code, add error handling code
• add diagnostics.py, diagnostics_aggregator and hrpsys_profile
• add hrpsys_profile.py
• set red icon if servo off
• fix servoState data type from TimedLongSeq -> TimedLongSeqSeq
• fix servoState data type from TimedLongSeq -> TimedLongSeqSeq
• specify simulator and robothardware names by using SIMULATOR_NAME
• fix usage of StateHolder ;; use qIn and qOut as reference angle-vector value ;; fix related launch files
• round time value ;; we assume time stamp in walk2m.pos is integer
• use rootlink_name, since calling bodyinfo->links() in onExecute consumes memory?
• call goActual before servo on
• serv off is not error
• add Mode
• add diagnostics.py to publish /Mode/Operating Mode/{Servo On,Servo Off}
• pusblish odom->bodyinfo->links()[0].segments[0].name
• fix HRP4C walk2m.pos data path
• fix HRP4C model path
• add servoState
• add servoState
• fix typo hrpsys_dashboarad -> hrpsys_dashboard
• fix servo on/servo off
• use OpenRTM timer for publish ROS message
• fix link_name -> name for new openhrp3 3.1.3
• use args for realtime_cpu_monitor.py
• fix params robot_monitor
• add robot_monitor and diagnostic.yaml
• add hrpsys_dashboarad
• add depends to dashboard/robot_monitor
• add diagnostics_pub
• use hrpEC
• start up DataLoggerService in hrpsys ros bridge launch
• add save log method
• add KILL_SERVERS arguments to samplerobot_startup.launch
• support KILL_SERVERS argument, set false as default
• subscribe motor_states in initializatoin ;; add :temperature-vector
• define rtm-ros-robot-interface to use hrpsys_ros_bridge dependent codes
• add MotorStates.msg and publish it in HrpsysSeqRosBridge
• remove webots from depends and add add_custom_command to download the sourcecode
• reverted to r2951 for my mistake
• check warning only for non-eistence movie or image
• fixed index.rst and conf.py conflict problem
• use baseTform instead of pose to obtain base link transformation from StateHolder
• add JointTemperature data port ;; this data port does not work if Joint Temperature is input
• update index.rst,conf.py by Jenkins
• add manipulator for Yaskawa robot
• fix: upport manipulator definition when export-collada, HRP4C is the example
• support manipulator definition when export-collada, HRP4C is the example
• make build/images for rostest
• comment out torque reading printing by default
• add data port for actual torques ;; rename original out data port for torque as mctorque ;; publish joint_states.effort based on rstorque
• publish /fullbody_controller/state according to mcangle data port
• rename compile_collada_robot->compile_collada_model
• move compile_openhrp_model,compile_collada_robot to cmake/compile_robot_model.cmake
• remove unused m_angle data port
• increase max-time for gr001
• fix typo hr001->gr001
• increase time-limit
• increse time-limit
• increase time-limit
• update samplerobot in house example to use grxui
• fix video tag for rviz
• fix for old cmake version issue #22
• fix typo, errors
• add to generate pr2.xml and pr2.conf
• generate conf file from wrl for openhrp3 model
• fix dependency
• mv smartpal5.yaml yaskawasmartpal5.yaml
• update CMakeLists.txt in order to run compile_robot sequentially, since this target use rostest and we could not run multiple rostest at the same time
• fix xml
• update launch script for eclipse-free hrpsys simulation
• update make file to use _gen_project.launch to generate project file from model file
• update documents
• use copy for YasukawaSmartPal5
• enable Camera of darwin.vcg avoid segfo in lucid
• fix makefile for YasukawaSmartPal5
• update launch documents
• rtm-naming-restart now do not ru omniNaming in background, so that rosmake can easily kill rtm-naming
• fix typo ;; openhrp -> openhrp3
• use openhrp3_PACKAGE_PATH : try to call _stop_rtmnaming.launch at the end of the make test, to stop omniNames that confuses rosmake system
• try to call _stop_rtmnaming.launch at the end of the make test, to stop omniNames that confuses rosmake system
• revert to previous revision ;; ros name server must initialize before RTCsvn diff src/
• fix order of member variables initialization
• fix: rosbuild_download_data use download_checkmd5, wrong previous commit -> use download_checkmd5 instad of rosbuild_donwnload_data to try to download multiple times when fail
• use download_checkmd5 instad of rosbuild_donwnload_data to try to download multiple times when fail
• update test script
• use video directive
• add dependency on pr2eus because euslisp codes and msgs of pr2eus are used in examples
• update launch script for new test-grxui.py
• update time-limit
• fix test setup for max-time
• fix max-time for new jenkins machine
• fix max-time
• add off-pose
• change reset-pose, in order not to collide with table
• change service play pattern
• remove waitforClockGenerator
• update time-limit for gr001
• update gr001.launch
• update time-limit
• update gr001 sample program
• add gr001.launch to test
• add GR001 model from choreonoid
• set time-limit to 600
• add pr2.launch to rostest
• set ORBgiopMaxMsgSize to 2M to 20M
• do not error when length of rsangle is larger then that of body->joints
• remove retry option from test tag
• fix dependency
• fix dependency when downloading yaskawa model
• path of robot-interface.l has changed
• fix dependency
• remove debug code
• remove pr2 from test
• add dirty patch
• fix wait for ModelLoader code
• fix check-tf
• add debug message
• add lfsensor and rfsensor
• wait until ModelLoader is up
• remove debug code
• fix debug code
• remove debug code
• add pr2.launch for rostset
• clean up code
• fix camera position
• fix path of webots robot directory ;; projects -> resources/projects
• remove webots nodes if openhrp-node-name is not specified ;; does not export Receiver and Emitter to openhrp vrml
• capitalize bottom, side, and top fields of cylinder
• remove subdivision field from Cylinder Node in webots vrml because subdivision field does not exist in default VRML specification
• add definition of Receiver PROTO and Emitter PROTO refering to reference.pdf in webots_simulator
• fix path of darwin proto
• rename webots -> webots_simulator because original directories or webots-ros-pkg are updated
• use --nosim mode for pr2_startup
• rename webots -> webots_simulator because original directories or webots-ros-pkg are updated
• fix typo
• add darwin-walk-data and update darwin sample ;; init -> walk -> pickup -> arm-up pose
• remove unnecessary timestep argument ;; darwin simulation does not require this parameter by default at recent version
• add angle-vector-for-seq-debug version instead of angle-vector-sequence version for hrp4c-walk debug
• fix linear mode check ;; use :linear instead of linear
• fix linear mode check ;; use :linear instead of linear
• add raw service call for seq's waitInterpolation and setJointAngles
• add hrp4c-walk in hrp4c-pickup sample script
• setPreempted on Finalize
• remove debug code
• support angle-vector-sequence and wait-interpolation
• lengthen max-time for hrp4c test
• speed up darwin demo
• add fullbody pickup sample for hrp4c robot ;; use hrp4c-fullbody-pickup by default
• update hrp4c end-coords definitions
• update darwin simulation
• update for new visualization layout
• add config for rviz
• fix euslisp code for better visualization
• update hrp4c.vcg
• remove debug code
• set timestep 0.005 for darwin
• add pr2 simulation on openhrp3
• add joint_state.velocity
• update max-time
• update documents for smartpal5.launch
• add smartpal5.launch to rostest
• support any size of input image
• set max-time to 40 for dynamics simulated robot, 10 for no-sim robot
• fix debug message
• update darwin script
• add arg OUTPUT
• update launch files
• add dependency to image_view2
• fix euslisp model location
• add smartpal5.yaml
• add smartpal5 launch files
• add to download yasukawa model
• update webotsvrml2openhrp3vrml according to changing directory
• move webotsvrml2openhrp3vrml from models to scrips
• add scripts/webotsvrml2openhrp3vrml.l
• move darwin.yaml from scripts to models
• move model files from hrpsys to hrpsys_ros_bridge
• add pa10, darwin, damplerobot launch example, rename file name based on description written in manifest.xml
• add pa10, darwin, damplerobot launch example, rename file name based on description written in manifest.xml
• wait until model loader is available
• fix document
• fix xml syntax
• add hrp4c-nosim-pickup.launch and update hrp4c-pickup.l
• remove hrp4c-example.launch
• update launch description
• fix max-time to 20
• enable to specify service-name
• update debug message
• update hrp4c-*.launch files
• rename file name from test-hrp4c-*.launch to hrp4c-*.launch
• fix xml syntax error
• fix documnets
• add test files
• rename hrp4crobot-pickup -> hrp4c-pickup
• remove test directory use rosdoc and launchfiles
• add rtm-ros-robot-interface including ros::service-call and use it in roseus samples ;; rtm-ros-robot-interface will support idl<->srv conversion
• use require instead of load for model loading
• add sendmsg service to Hrpsysseqstaterosbridge using dynamic_reconfigure srv
• move darwin's hrpsys.launch file to hrpsys_ros_bridge
• fix hrp4c.test and CMakeList.txt
• add darwin sample launch files and script
• add test program for hrpsys_ros_bridge
• add rostest hrp4c.test and generate-document.test
• update hrpsys_ros_bridge.launch : remove SimulationEC from openrtm_args and rename rtmlaunch to hrplaunch_hrpsys_ros_bridge
• revert previsou commit
• update hrp4c.vcg
• changed nodes in hrpsys_ros_bridge to not link SimulationEC, these nodes are not real-time
• current good connection script for hrp4r
• add connection script for hrpsys_ros_bridge on real robot
• unit of Update Intealval is [sec]
• changed robot super class, from ros-interface to robot-interface
• add --nosim launch file for hrp4c
• add pickup demo for hrp4c
• fix : forget to call spinOnce
• use Update Interval 1 for Robot Model and TF
• update darwin_ros_bridge.launch to use hrpsys_ros_bridge.launch
• fix compile warning
• fix wrong commit
• clean up HrpsysSeqStateROSBridge
• pusblish tf and others at the hrpsys cycle rate
• add --sync
• add SCHEDULER_ARGS argument support
• fix to pass SCHEDULER_ARGS argument
• fix debug message
• clean up launch files, hrpsys/launch contains example for OpenHRP3.1 and hrpsys_ros_bridge/launch contains example for openhrp-scedular and ros bridge
• move openhrp + ros integration example under hrpsys_ros_bridge
• rename main_withHands to HiroNX
• add hiro-nx example
• add debug message to show @Initialize
• change samplerobot_hrpsys_ros_bridge to use hrpsys.launch
• add rviz, image_proc, image_view, camshiftdemo in samplerobot_ros_bridge.launch
• remove openhrp3 from manifest, this is writtin in hrpsys/manifest.xml
• fix ROBOT_NAME from HRP-4C to HRP4
• fix samplerobot_ros_bridge.launch to include hrpsys_ros_bridge.launch
• add debug message
• update .launch files, .dae files goes to hrpsys/scripts, AbsTransformToPosRpy is launched from hrpsys.launch, update opertm_args to use SimulationEC
• update skip paramater
• link SimulationEC
• add depend package rviz to manifest.xml
• add hrpsys_ros_bridge
• add launch/darwin_ros_bridge.launch
• add ImageSensorROSBRidge to hrp4 simulation
• add rviz configuration file for samplerobot
• fix to avoid segfualt error when grxui does not publish data
• add frame_id, and fill dummy camera_info param, publish effort and use wait-interpolation
• publish sensor pose through tf::TransformBroadcaster
• add ImageSensorROSBridge
• add samplerobot_ros_bridge.launch
• update HrpsysSeqStateROSBridge read pose and publish as tf
• update use /odom as root frame
• add rviz configuration files for pa10 and hrp4c
• add pa10_ros_bridge.launch
• update to HrpsysSeqStateROSBridge
• update hrpsysStatePublihser, to work with robot_state_publisher
• rename hrprtc -> hrpsys
• rename hrprtc_ros_bridge -> hrpsys_ros_bridge
• Contributors: Atsushi.tsuda@gmail.com, Isao Isaac Saito, Kei Okada, Ryohei Ueda, chen.jsk@gmail.com, garaemon, garaemon@gmail.com, gm130s@gmail.com, ik0313, ik0313@gmail.com, kei.okada, kei.okada@gmail.com, manabu1118, manabu1118@gmail.com, murooka@jsk.imi.i.u-tokyo.ac.jp, nakaokat@gmail.com, notheworld, notheworld@gmail.com, nozawa, rtmrosrobotics.testing@gmail.com, tnaka, yk.at.jsk.@gmail.com, yk.at.jsk@gmail.com, youhei, youhei@jsk.imi.i.u-tokyo.ac.jp