CHANGELOG

Changelog for package odri_master_board_sdk

1.0.6 (2023-11-15)

• Makes cmake-format happy !

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

• Add cmake-format.

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

• CMake: update submodule use

• CMake: bump catch2

• Partial support of the new Power-Board hardware

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

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

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

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

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

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

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

• Update sdk/master_board_sdk/CMakeLists.txt

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

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

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

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

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

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

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

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

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

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

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

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

• [cmake] Change again python detection place.

• [cmake] Change place for python detection

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

• [Cmake] remove python components.

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

• [cmake] Synchronize

• [package.xml] XML version 1.0

• [package.xml] Remove Boost depend.

• Cmake

• pre-commit run -a

• sync submodule

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

• Apple support for wired connection.

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

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

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

• Zero-initialise all members of Motor

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

• Fix missing header.

• Fix wrong elif condition and missing brackets.

• Apple support for wired connection.

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

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

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

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

• Missing include

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

• Swap process_time and clock for better intelligibility

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

• Fix sdk examples for python version >=3.8

• CMake: add unit tests

• Fix minor build error and update cmake submodule

• CMake: add unit tests

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

• Minor CMakelist change and cmake update

• SDK: fix a few warnings

• [CMake] set RPATH for executables

• SDK: fix warnings

• Add Python bindings for powerboard data

• add pyton bindings for power baord

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

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

1.0.5 (2022-06-30)

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

• Bump version to 1.0.5 and add changelog

• fix package.xml for catkin build compatibility

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

• fix example_imu_data_collection

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

• Adding CMakeList entry for new example

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

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

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

1.0.4 (2021-07-21)

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

• Add comment to explain the call to ParseSensorData

• Add a ParseSensorData in MasterBoardInterface Init function

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

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

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

• Address review comments

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

• Contributors: Julian Viereck, odri, paLeziart

1.0.3 (2021-06-09)

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

• Update CMakeLists.txt

• Contributors: Naveau

1.0.2 (2021-05-11)

1.0.1 (2021-04-16)

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

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

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

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

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

• [sdk] fix missing definition from the Motor class

• SDK: Adding error code for encoder2 error

• Update README.md

• Update README.md

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

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

• update target names

• update the interface to double values

• remove warning in the example_pd

• fix a couple of warnings

• Synchronize.

• export the includes and install them

• fix project name

• add Boost to the package.xml

• add the license and package.xml

• export the cmake library

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

• [SDK] Add support for current saturation

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

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

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

• CMake: fix sdk installation path, fix #45

• CMake: update submodule and its use

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

• Add IQ scalling for Kp and Kd values

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

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

• Fixed overflow issue on com_analyser

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

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

• Better way to get wifi channel

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

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

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

• Small refactor

• Replaced latency script by communication analyser script

• Added getters for wifi channel and protocol version

• Enable channel 14 for wifi communication

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

• Merge branch ‘AlexisPotier-print’

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

• Avoid displaying headers when there is no spi connected

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

• Improved the display of IMU, ADC and motors data

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

• Improving display of latency test result

• Changed protocol version from 2 to 3

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

• Changing scheduler param to realtime in examples

• Documentation update : added informations about the latency calculator script

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

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

• Initialization of pointer + extra safety when stopping the interface

• Added member function to check if driver is enabled

• Fix division by zero

• git push origin masterMerge branch ‘AlexisPotier-master’

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

• Fix for command loss feedback reset and overflow

• Get first packet loss to avoid jump in value

• Proper getter and setters for a few driver properties

• git push origin masterMerge branch ‘maximekli-master’

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

• Merge branch ‘memory_leaks’

• Merge branch ‘signal_handler’

• Small fixes after merge

• git push origin masterMerge branch ‘AlexisPotier-signal_handler’

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

• git push origin masterMerge branch ‘AlexisPotier-memory_leaks’

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

• Small refactor when checking drivers

• Free link_handler when the program is stopped by SIGINT signal

• Removed “virtual” keyword for stop function in ESPNOW_manager

• Close correctly the pthread to avoid memory leaks

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

• Small refactor

• Added extra safety when closing interface

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

• Added default argument for listener mode in interface constructor

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

• Update doc with listener example

• Updated outdated doc

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

• Small refactor

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

• Override stop method to stop differently wifi and ethernet connexions

• Initialization of bpf in ESPNOW_manager

• Small refactor on shutting down the interface

• Little fix

• Merge branch ‘feedback_on_packet_loss’

• Merge branch ‘AlexisPotier-feedback_on_packet_loss’

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

• Added getters for feedback and changed stats print functions

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

• Adapted both examples for the new listener mode

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

• Updated python example with failed spi transactions support

• Added failed spi transactions support to example

• Added protocol version to init msgs in interface

• Updating interface and examples with the connected spi slaves feedback

• Removed state machine test example

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

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

• Merge branch ‘AlexisPotier-new_branch’

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

• Giving feedback on packet loss

• update files to merge

• update feedback packet loss using latest version

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

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

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

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

• add feedback on packet loss

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

• Update README.md

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

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

• Added session id handling in sdk interface

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

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

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

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

• Small change to match previous commit

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

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

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

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

• LinkManager: Close connection on destruction

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

• Update example.py as followup to #39.

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

• [CMake] PKG_CONFIG_APPEND_BOOST_LIBS has been fixed

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

• [Python] avoid lines > 120 chars

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

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

• [SDK] Fix typos: connection instead of connexion

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

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

• [CMake] typo

• [CMake] build python example

• [CMake] sync submodule

• remove symlinks build directory could be anywhere

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

• [CMake] build python .so in standard place

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

• [CMake] boost python is required for python

• [CMake] update project definition

• [CMake] remove end-of-line spaces

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

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

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

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

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

• [sdk] fix makefile

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

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

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

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

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

• Set SP_QN_ADC and UD_QN_ADC from 14 back to 16

• Merge branch ‘master’ into jviereck_adc

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

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

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

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

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

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

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

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

• moved all the files to clean the sdk folder

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