0.6.17 (2018-07-21)

• update maintainer
• Contributors: fmessmer

0.6.16 (2018-01-07)

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

0.6.15 (2017-07-18)

• use xacro --inorder
• Merge pull request #122 from ipa-fxm/indigo_roslint roslint some packages
• starting to roslint some packages
• manually fix changelog
• add possiblitiy to add shelf as obstacle
• Contributors: Nadia Hammoudeh García, ipa-fxm

0.6.14 (2016-10-10)

0.6.13 (2016-10-10)

0.6.12 (2016-10-10)

• Two publishers where publishing to the same frame name
• Contributors: ipa-bfb

0.6.11 (2016-04-01)

• outsource obstacle_distance messages
• add missing install tag
• Added method to set drawable again and to avoid drawing of self-collision links.
• Renamings and replaced box with sphere.
• Fixed order of transform and service registration. Additionally added more time to wait for service availability.
• working on marker publisher
• working on log output
• renaming frame - link
• Contributors: Marco Bezzon, ipa-fxm

0.6.10 (2015-08-31)

0.6.9 (2015-08-25)

• review dependencies

• authors in package xml

• Merge branch 'test_of_feature_with_adapt_frame_tracker' of github.com:ipa-fxm-mb/cob_control into test_of_feature

• Corrections integrated from PR: [WIP] Finalizing/Testing of TwistController features (#51). Renaming from frame_to_collision to link_to_collision.

• • Made some changes for test. - Decreased Duration time for markers. - Corrected pose update for self collision check frames. - Added new scripts.

• boost revision

• Some preparations for test: IMarker smaller, Alpha settings, More scripts. Default value for Frame Tracker params.

• • CA: Increased exp. decay from 0.1 to 0.2 - Added comments. - Moved constraints set and management to base class. - Added time delta to test script.
• • Removed parameter mu. - Added obstacle id for identification of collision pair in ObstacleDistance.msg. - Added Frametracking to DataCollector. - Restructured obstacle distance data collecting. - In debug trajectory marker added explicit usage of frame_tracker/tracking_frame.

• merge

• more dependency fixes according to review comments

• explicit dependency to boost

• Fixed bug when obstacles move away from robot. Clear distances list when new distances arrive (also in case nothing is available for current link) to avoid no movement.

• Due to restructuring of self-collision YYAMLs also restructured computation of the file and the ignoreSelfCollisionPart method.

• • Renaming obstacle_marker_server for interactive obstacle
  • Now publishing all obstacle distances instead of the minimal distance only. Defined a MIN_DISTANCE for selection of data to publish (e.g. > than 0.5 m doesn't make sense for CA).
  • Selection of the minimal distance in debug node.
  • Callback data mediator processes all obstacles for a frame of interest id now.
  • Restructured methods in constraint classes.
  • In CA constraint now processing all collision pairs for one link in a CollisionAvoidance instance.
  • Removed unnecessary output.

• Resolved merge conflicts.

• more fixes for migration afer merge

• merge with package_xml_2

• remove trailing whitespaces

• migrate to package format 2

• • Avoided drawing of self-collision frames -> can be done via rviz.
  • Increased CA activation threshold to 0.25 m
• • For BVH introduced a shared_ptr member -> so a collision object can be created without copying the whole BVH. This saves computation time (5% for 3 SCA and 1 torus)
  • Decreased rate for cob_obstacle_distance because the movement does not change that often.
  • According to the rate adapted the moving average for distance in constraint_ca_impl

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

• Fixed message generation issue

• review dependencies

• updates from ipa-fxm-mb

• updates from ipa320

• cleanup

• missing add_dependencies

• sort dependencies

• Fixed bugs in cartesian_controller: waitFor last available transform else extrapolation error; send always a new constructed StampedTransform instead of using an already existent one, else end-effector is decoupled from manipulator and other confusing things happen...; Added responsible node to tf error msg.

• Merged with ipa-fxm/test_of_feature branch.

• • Corrected JLA constraint. - Added weighting of GPM prio dependent. - Added buffer region for CA constraint to become active.
• • Removed PredictDistance Service (not necessary anymore; found a lightweight computational algorithm).
  • Made KDL::ChainFkSolverVel_recursive in CA constraint available for prediction.
  • Replace constraints update method prediction variable with JntArrayVel.
  • Refactored ObstacleDistance.msg: Reduced number of members, renamings, added frame_of_interest for registration and made use of header->frame_id for arm_base_link.
  • Renamed service for registration.
  • Improved input twist damping in case of a constraint is in CRITICAL state.

• added publisher for path preview

• allow target_frame to be configured via private param, beautifying

• added interactive_obstacle test node, less sleep time on marker publisher

• Further tests and adaptations for test.

• Reduced granularity of a fcl::shape representation. Replaced arm_1_collision with mild.dae.

• Fixed integer size. There might never be 2^64 joints. But maybe more than 255 that's why 2^16 had been chosen.

• finalize example.launch

• move distance_vector marker publisher to separate node

• Reduced granularity of a fcl::shape representation. Replaced arm_1_collision with mild.dae.

• fix sleep rates

• add topic name to ROS_WARN output

• add example launch file

• generalize scripts, minor changes

• Corrected CMakeLists.txt. Replaced ASSIMP_LIBRARIES with assimp.

• Added consideration of origin from URDF tags. Removed shape_type and so Registration.srv and replaced by SetString service. Removed comments.

• Considering visual tag as fallback now. Removed duplicate map and struct.

• Considered further proposals from https://github.com/ipa-fxm/cob_control/pull/7.

• Considered proposals from https://github.com/ipa-fxm/cob_control/pull/7

• Added a YAML file to have the parameters as example. This folder can be deleted after integration into cob_robots package.

• Added self-collision checking. Corrected fcl bug(?): In case of simple geometric shapes the nearest_points differ from BVH models. Therefore converted simple shapes into BVH models to have the same behaviour in all cases.

• Made usage of common methods. Added defines for conversion of array access.

• Transform is done in a separate thread now. Added subscriber to CollisionObject messages to create obstacle in other nodes (e.g. Python test nodes). Added corresponding methods to process CollisionObject mesh data.

• Integrated comments of https://github.com/ipa-fxm/cob_control/pull/7. Replaced static link2collision map with URDF parser. Added class for URDF parser and create marker shapes.

• Added functions to represent a registered robot link as a mesh instead of simple shapes. Added a mapping between robot link name and mesh resource name.

• Added JLA inequality constraint to be used within the dynamic task strategy. Added checking and resetting of dynamic_reconfigure params. Corrected formatting of LSV damping.

• Separated constraints from solvers and vice versa. Added new parameters. Prettified GUI.

• Added assimp library for generic mesh file parsing. Added a parser base to specify common interfaces and methods.

• Added roslib to resolve package:// uris. Renamed typedefs. Specialized template implementation for fcl::BVHModel<fcl::RSS> > to use meshes like simple shapes. Added example code for a arm_1_collision.stl mesh.

• Made CA possible with active base. Bug fixing of solvers in case of base active. Corrected JLA constraints.

• re-arrange Parameter structs

• Added new method for dynamic tasks readjustment. Implemented prediction of distance now for vectors.

• resolve conflicts after merging ipa-fxm-mb/task_stack_prio_feature

• beautify and code-review

• Added chain recursive fk vel calculator. Corrected calculation of translational Jacobian for CA. Introduced further msg types to achieve that. Extended solvers: CA as first prio task, CA as GPM, CA as GPM with disappearing main tasks.

• Corrected dist calclation for GPM CA

• Corrected CMakeLists.txt and package.xml. Resolved dependencies.

• Added stack of tasks and further developments on GPM CA.

• Further developments.

• Implemented proposals from discussion https://github.com/ipa320/cob_control/pull/38. Removed tabs. Corrected node handles.

• Made corrections proposed in https://github.com/ipa320/cob_control/pull/38#

• • Made cob_obstacle_distance independent from testdata/robot_description.xml file.

  System Message: WARNING/2 (<string>, line 145)

  Bullet list ends without a blank line; unexpected unindent.

  Only in case of the parameter /robot_description could not be read the xml file is used (e.g. for testing purposes). - For that added roslib as dependency.

• • Added doxygen comments
  • Corrected the messages produced by catkin_lint
  • Created a static method to return SolverFactory
• • Made obstacle tracking independent from arm_right.
  • Refactored signatures of solve methods: Instead of using dynamic vector now a 6d vector is used because twists are of dim 6d.
  • Removed unnecessary comments.
  • Introduced eigen_conversions to have simple converters instead of filling matrices and vectors manually -> Reduces typing and copying errors!
• • Renamed some variables according to ROS C++ style guide
  • Moved advanced chain fk solver from cob_twist_controller to cob_obstacle_distance.
  • Replaced complicated transformation of base_link to arm_base_link with simpler and direct one.
  • Removed unnecessary services and replaced with message publisher and subscriber (for distance calculation).
  • Added example launch file for cob_obstacle_distance.
  • Corrected handling of objects of interest. Now in both packages frames are used (instead of joint names) -> made it similar to KDL and tf handlings.
  • Removed commented code.
  • Removed pointer where objects could be used directly (constraint params generation)
  • callback data mediator keeps old distance values until new ones were received. An iterator is used to go through the container.
• • Created a obstacle distance publisher in cob_obstacle_distance package and a subscriber in cob_twist_controller package.
  • Created registration service in cob_obstacle_distance
  • Creation of multiple CA constraints dependent on formerly registered joint regions.

• Renaming

• Contributors: Andriy Petlovanyy, ipa-fxm, ipa-fxm-mb