CHANGELOG

Changelog for package hebi_cpp_api

3.10.0 (2024-08-30)

• Features/Changes: * add dynamics comp + doubled joint plugins * add getters/setters for impedance control plugin * use doubles instead of floats in arm plugins (minor change in experimental arm class) * parse “user data” values as same parameter types as for plugins instead of saving as strings (minor change in experimental arm class) * store absolute path for robot config file withing RobotConfig structure * try to load/set default gains when creating arm from config * update C API to 2.15.0 from 2.13.0 * provides ubuntu 20.04 compatibility again * adds support for debug symbols in win X64 build * lookup searches localhost by default to work with private imitation groups from Scope * multiple log files per second now supported when using default file name (note – naming convention changed from hh.mm.ss to hh-mm-ss.ms to match MATLAB API convention) * prevent certain large info messages returned from modules from getting dropped * added control strategy 5 to ControlStrategy enum * update minimum required CMake to 3.5 to reduce cmake warnings from newer versions * added helpers to optionally create Arm and MobileIO objects using an existing Lookup object * access “Runtime Data” in “Extra” info packets, including number of seconds a module has been on and/or commanded. Note – requires firmware support, and count will only include time for module since first updating to firmware with this feature. * MobileIO class now has “sendLayout” and “sendLayoutBuffer” functions, allowing layout configurations to be sent to MobileIO devices

• Bugfixes: * added const attribute for a number of getters * small refactoring for readability, minor cleanup and formatting * update calls for C IK functions from internally deprecated ones to equivalent new ones * address a number of compiler warnings, while making warning checking more strict for GCC and clang * ignore warnings given by included Eigen library

• Contributors: Matthew Tesch, Aditya Nair

3.9.0 (2024-07-10)

• Bumped up the HEBI CPP API Version to 3.9.0 (changelogs for previous version are available at https://github.com/HebiRobotics/HEBI-Core-Cpp/releases)

• Initial release of HEBI API for ROS 2

• Contributors: Chris Bollinger, Hariharan Ravichandran

3.2.0 (2020-4-3)

• Added experimental high-level “Arm API” to enable easier control of robotic arm systems

• Contributors: Chris Bollinger

3.1.1 (2019-12-16)

• Fix incorrect behavior when getting and setting IO pin values

• Contributors: Matthew Tesch

3.1.0 (2019-12-02)

• Reduce conversion needs by adding (deprecated) overloads for:

  • getJ

  • getJacobians

  • getFK

  • getForwardKinematics

  • getFrameCount

• Fix multiple definition error

(from 3.0.0)

• Robot Model:

  • Added “input frame” type for forward kinematics operations

  • Added end effector support (custom and parallel gripper types)

  • Added R-series support (actuator, link, bracket, and end effector)

  • Added options for link input + output type

  • Support import of HRDF format 1.2.0

• Robot Model:

  • removed “combine” functionality for addJoint and addRigidBody

  • now only allows addition of elements which match the physical interface of the previous element

  • changed the behavior of “end effector” frames; by default, none are returned any unless an “end effector” is specifically added

  • Changed usages of HebiJointType, HebiFrameType, and HebiRobotModelElementType C-style enums to C++ scoped enums

• Fixed bug when setting IO pins in commands; commands would sometimes affect other pins.

(from 2.2.0)

• Added ability to set and clear text in the experimental mobile IO API

• Added ability to get raw feedback from experimental mobile IO API

• Contributors: Matthew Tesch

2.1.0 (2019-08-21)

• Updated various messages:

• Info:

• Added “serial” getter for Info packets

• Info and Command:

• Added mstop strategy

• Added position limit strategies

• Added velocity limits

• Added effort limits

• Added flag for whether or not accelerometer feedback includes gravity (on supporting devices, namely Mobile IO devices

• Command:

• Added ability to set strings for and clear the “log” text field in the Mobile IO apps

• Feedback:

• Added “pwm command” feedback

• Add “robot element metadata” that allows for introspection of RobotModel objects.

• Import/Export safety parameters from/to a file into/from GroupCommand objects

• Export safety parameters to a file from GroupInfo objects

• Added “experimental” namespace intended for feature-preview items

• Added “mobile io wrapper” to experimental namespace that allows for easier interface with Mobile IO devices

• Update core C API from 1.4.2 to 1.8.0

• Significantly faster Jacobian computation

• Full wildcard lookup supported when creating groups

• Significantly faster trajectory solver implementation

• Added “subaddress” support in lookup, commands, feedback, and logging; allows for simulator support

• Cleaned up code style:

• default destructors and accessibility for deleted copy/move assignment operators

• const on move operators (src/util.hpp)

• made several getters inline

• Added “FunctionCallResult” used when importing safety parameter files to allow error message to be accessed

• Update core C API from 1.4.2 to 1.8.0

• Fixed getters for motor position, ar position, ar orientation, ar quality, and battery level in feedback

• Locale invariant conversion when reading in .xml files, such as gains and HRDF (always expect “1.23” instead of “1,23”, regardless of system’s locale setting)

• Use Ethernet header instead of message packet content to discover modules on the network (fixes issue when using multiple interfaces - wired and wireless - on iPad or Android running HEBI Mobile I/O)

• Contributors: Matthew Tesch

2.0.2 (2019-01-29)

• Make package installable

• Moved the header files into an include directory

• Removed the Eigen folder; use ROS package instead

• Fixed CMake for installable package

  • Addressed Eigen dependency

  • Installed include files and libraries correctly

• NOTE: this does not correspond with an official 2.0.2 release of the upstream HEBI C++ API, because these changes were all local ROS build system changes. This mismatch will be resolved in v2.1.0.

• Contributors: Matthew Tesch

2.0.1 (2018-12-19)

• Initial import of the HEBI C++ API v2.0.1 - Note: package.xml and CMakeLists.txt have been changed to be catkin compliant.

• Addressed i386/armhf/aarch64 ros buildfarm issues.

• Contributors: Matthew Tesch