Changelog for package ubiquity_motor

0.14.1 (2022-03-19)

bugfix: reverted input back to py2 to fix #169
Contributors: Janez Cimerman

0.14.0 (2022-03-09)

made upgrade_firmware be run with py2 because #149
Rename v43 to no longer be beta2wd in the name
Update4wd and gear ratio for noetic (#160)
Updated readme to include new parameters and topics.
Adding clarity in comments only to our interface to controller_manager and thus DiffDriveController
Fix issue of i2c routine and a left over git merge marker failed make
Update motor_hardware_test for changes to readInputs and MotorHardware interfaces.
Major merge of 4WD features to Magni 2wd. This is include and message files
Major merge of 4WD features to Magni 2wd. This is initial motor_hardware source changes.
Major merge of 4WD features to Magni 2wd. This is initial motor_node source changes.
Adding v43_20210829_beta2wd_enc.cyacd for testing
Contributors: Janez Cimerman, Mark Johnston, Rohan Agrawal

0.13.2 (2021-07-27)

Added ros noetic github action
Install the shared lib for our custom serial
Check for mininum hardware version before reading option switch
Contributors: Rohan Agrawal

0.13.1 (2021-07-22)

Migration to Python3.8
upgrade_firmware.py migrated
test_velocity.py migrated
test_pi_gpio.py migrated
test_motor_board.py migrated
Contributors: Rohan Agrawal, Teo Podobnik

0.13.0 (2021-07-20)

Depend on python3 version of requests
Hack to vendor serial because it is still unreleased on noetic
Merge commit '32b9fad54bb1e54b9fa61f6b5c51f5ec4bf6d547' as 'serial'
Updated unit tests with new changes so that they pass
Adding beta for v41 firmware
Add tic interval topics and fix bat volt readings and enhance test_velocity tool (#126)
Cleanup of the README for better formating and clarity for tick intervals
Removed a diagnostic cap on interval of 2000 that was for testing
Adding system_control command of speed_control disable and enable. Moving the state for both speed control AND earlier added motor control to disable mcb control by motor node both into NodeParams class. Also move the defines for topic name and both commands into motor_parameters.h which is better place since now mcbSpeedControl and mcbMotorControl are now members of NodeParams which is also defined in motor_parameters.h (#122)
Add query of pid parameters. Fix issue with the S command where we had to use a second carrage return to enter value before. Some help menu cleanup
Updating to include v40 for latest Magni release candidate
Fix init of wheel_type for case of no yaml entry for wheel type so we will use default of standard in that case (#117)
Merge pull request #115 from UbiquityRobotics/addSystemControlForMcbDisable Add system control for mcb disable
First working disable of MCB serial to allow firmware upgrade then re-enable motor node. This has been tested and we can disable - upgrade - re-enable.
Now able to have motor_node receive on system_power topic a motor_control disable and it allows firmware upgrade. Next the more tricky part is to re-open and re-init MCB. The final piece is to reopen serial port as the code to re-init mcb is in this branch already
More incremental changes to better show battery too low
Working version to allow disable and re-enable of MCB on the new /system_control topic.
src/motor_node.cc
Improved the comments for clearer usage info
Adding arduino nano program for simple MCB diagnostics to be used without any Raspberry Pi connected.
Adding firmware folder. No impact to any code and is for ability to have revisions available to users to try different versions as required.
Adding firmware rev v39 and v37 for firmware descriptions
Adding board revision hardware changes done for rev 5.3 MCB
Merge pull request #109 from UbiquityRobotics/i2c-lock Open i2c device for read-only.
Open device for read-only.
Reset and reinitialize MCB if we see it has itself been reset (#103) Have re-tested today since it has been a while since review start. Hit MCB reset switch and we re-init from host params. It has been intentially set to an infrequent check because it is likely a very rare event and I wanted to keep I2C traffic to a minimum.
Merge pull request #104 from UbiquityRobotics/i2c-lock Removing the write() call to PCF8574 in a I2C communication
Only read() call.
Arbitrary slave register.
Compiled version
Re-added goto.
Some changes
WriteRead in one go.
Adding wheel joint state velocity to fix ubiquity_motor issue #59 (#101)
Fix wheel direction issues (#100)
Fix15sec deadman hickup (#99)
Contributors: Mark Johnston, MoffKalast, Rohan Agrawal, Teodor,

0.12.0 (2020-07-13)

Fixes ODOM bug and modifies way we set wheel type to safer system. (#87)
Sync up registers with v37 firmware. This adds many thing like system_events pid control selftest and thin wheel and low voltage level.
A workaround for issue 83. Insert a 2 second delay prior to serial port setup. Tests so far show this seems to avoid the issue where some OS components sets the serial port to 115200. The odd thing about the defect is stty still shows it as 38.4k but it is in fact 115.2k baud
Contributors: Mark Johnston

0.11.0 (2020-06-12)

Fixed unit test error
Sync up registers with v37 firmware. This adds many thing like system_events pid control selftest and thin wheel and low voltage level. Our main need here is thin wheels. Also add system_info script to be used for simplier field state info gathering on a magni
Continued mod to add more recent firmware changes into host side. Have added max_pwm to dynamic config. Made some changes to system_info.py info tool
Fix a repetitive logs for firmware date and version. Main new code is for support of v37 firmware registers and features. Not function complete yet for all changes
Putting into action mcb reset detection from system_event register and reading of mcb option switch so it can be sent back down to the MCB since mcb cannot read the onboard option register itself.
First commit of function complete code for support of wheel type in base.yaml, notification of MCB reset conditions, reading I2C option switch and pushing it to MCB register as the main new additions
Adding updates to firmware and hardware rev description
Better error messages for common errors
Adding v35 information for firmware revisions
Contributors: Mark Johnston, Rohan Agrawal

0.10.0 (2019-11-10)

Support for higher resolution odometry (firmware v35+ required)
Tool to verify odometry consistency
Support for target velocity term in the PID (firmware v35+ required)
Firmware update script now supports local firmware files
Firmware update script can use different serial port
Support for reading motor controller version from I2C
Safer E-STOP behavior (MCB 5.0+)
Publishing the state of the estop switch
Improved documentation
Improvements to the testing scripts
Contributors: Alexander Sergeenko, David Crawley, Mark Johnston, Rohan Agrawal

0.9.0 (2019-04-03)

Allow selecting what firmware version to download
Adding max motor forward and reverse speeds and max pwm settings all the way from ROS parameters to being pushed to the controller board.
Analyze information to create diagnostics statuses
Major update to test_motor_board.py that accepts greatly improved parameter read and set as well as ability to specify com port device to be used
Adds support for set of hw rev and for pre rev 5.0 estop threshold
Contributors: Mark Johnston, Rohan Agrawal

0.8.0 (2019-01-01)

Added firmware loading tool
Added misc testing scripts
Don't die when communication not working, only print error
Use std mutex/atomic instead of boost
Reduce print level on integral/pid limits
Contributors: Rohan Agrawal

0.7.1 (2018-06-16)

new pid params
Contributors: Rohan Agrawal

0.7.0 (2018-04-15)

Add script to probe the robot for information
Add Serial Protocol Documentation Fixes #33
Add ROS API documentation (#32) * Add API documentation * Remove unused serial_loop_rate variable
Contributors: Jim Vaughan, Rohan Agrawal

0.6.1 (2017-11-12)

Reset controller when time jumps (#31) Reset the controller and zero commanded velocity an unexpected time change occurs (such as by NTP). This prevents unexpected robot motion.
Contributors: Jim Vaughan, Rohan Agrawal

0.6.0 (2017-09-15)

Publish battery voltage messages (#29) Added battery status message calibrated on 4.4 board serial no 450
Contributors: Jim Vaughan, Rohan Agrawal, David Crawley

0.5.2 (2017-05-06)

Remove debug topics (#25) * Remove debug topics * Remove tests of debug registers
Merge pull request #22 from UbiquityRobotics/suppresserrorsatstartup Supress some potentially confusing warnings
Increase error_threshold
Merge pull request #23 from UbiquityRobotics/fix_acceleration_limits Fix computaion of elapsed time so that it is +ve
Fix computaion of elapsed time so that it is +ve
Supress some potentially confusing warnings
Clean out serial loop (#20) * Transmit the the same thread caller, not in serial thread * go back to debug on tranmissions * Use smarter waits and reads in reading thread * Get rid of serial loop rate * Reformat
Contributors: Jim Vaughan, Rohan Agrawal

0.5.1 (2017-03-04)

Reduce flakey-ness of the tests
Try to get firmware version, throw after 10 tries
Code cleanup
Use fixed sized arrays (not vectors) where they make sense
Use a seperate shared_queue class
Performance improvements
Contributors: Rohan Agrawal

0.5.0 (2016-09-04)

NOTE: This version drops support for firmware versions before 24
Use new 8-byte serial protocol
Add support for using dynamic_reconfigure to change PID parameters
Add support for setting the deadman timer via a parameter
Add support for debug registers, do enable better firmware diagnostics
Add support for limit reached warnings from firmware
Improved testing, more coverage and cleaner tests
Have motor_node explicitly return an exit code
Reduce memory allocations caused by resizing vectors
Use size_t instead of int for iterating
Contributors: Rohan Agrawal, Jim Vaughan

0.4.1 (2016-04-09)

add support for firmware version 19
add support for 0xDD (checksum) error response
Make variable name for rejected bytes 'rejected'
Reduce memcopy-ing
Contributors: Rohan Agrawal

0.4.0 (2016-03-08)

Cleanup deps, have motor_node be linked to shared lib
Update Copyright Dates
Removed old motor_unit_test
Moved motor_message_test
Make the serial thread loop at the passed in value instead of always 1000
Add interruption point to Serial Thread
Comment out serial tests
Added motor_serial_tests
Always print firmware version
fix up code that checks a firmware version response
Using Async Spinner instead of roscontrol thread
more command grouping
reduced unnecessary output locking using bool method like tony did with input
reduce locking by grouping commands to send together
Contributors: Rohan Agrawal

0.3.2 (2015-11-28)

Many fixes for bad odometery, more robust serial protocol
Add code to speed up serial. Major improvements in latency to the motor board
Contributors: atp42

0.3.1 (2015-10-12)

fixed install rules for Cmake
added license to test code
Contributors: Rohan Agrawal

0.3.0 (2015-09-20)

Remove annoying debug print
Fix numerous PID issues. First, add velocity reporting. Second, fix 10x unit error between specified velocity and actual. Third, make PID parameter changes actually world.
actually calling the function now
added pid params (hopefully)
added more unit tests
added some more unit test coverage, b/c I spent half an hour on an avoidable wild goose chase
updated unit tests
renamed motor command to motor message
Contributors: Jim Vaughan, Rohan Agrawal
Updated package.xml with new dependencies, bumped version number
updated travis button
Merge refactoring branch into indigo-devel
cleaned up some stuff, and got odometery running
added odom, and changed loop rates
using the correct tics to radians, and now at 20hz
cleaned up travis file
forgot to remove bad include
moved control loop to seperate thread to make it work
converted branch to the indigo-devel code
added missing ubiquity_motor.cpp
changed logging from the output speeds to the input speeds
whoops, fotgot to remove typedef for chrono
removed boost_chrono dependency, less dependencies is better right
explictly apt-get boost-chrono
manually installing boost in travis
changed travis notfications for slack
Fix issue where serial data wouldn't print Using a pointer for the motors object in the Motor Serial class, this allows for the initalization to be in the constructer.
added slack integration to travis
add slack intergration to travis
working on making diff_drive_controller work
fixed boost expection error
Print ros_error on catch for better debugging
worked on serial thread loop
fix test
more exception handling in thread
added baud rate switch/case to prevent invalid bauds
basic serial thread working
change testsuite naming to ubiquity_motor_CLASS
added catkin_make to travis because build errors fixed
added mutexed add and get command functions
added test cases for invalid type/register
put header ifndef in motor_serial header
redid motor_serial header with boost threads and std::queues
added enum checking to getters and setters
added deserialize verification
started added comments to the code
removed unnessary imports
added incorrect checksum test case
added deserialize funtionality and test
added serialize and checksum functions
fix typo in travis file
changed travis config to run the tests
added tests for motor command class
Started adding unit tests
fixed enum scoping errors
fix wierd git problem
renamed source files to follow ROS standard practices
removed old files that we are not going to use
changed motor command class to use new serial protocol spec
testing build
Merge pull request #2 from jim-v/hydro Added child_frame_id to odom messages.
Added child_frame_id to odom messages.
Changed MotorDriver to MotorHardware
added missing dependencies to package.xml to fix build errors
Update README.md
added header for motor driver class
Merge pull request #1 from jim-v/hydro Added covariance to the outgoing odom messages.
Added covariance to the outgoing odom messages.
removed old node files
added serial dependency to package.xml
Fixed build errors and removed Ubiquity prefix from classes
changed travis branch to refactoring
added serial reader thread and callback
added BSD license to crc8 files
added UbiquityMotorSerial class
created UbiquityMotorCommand class
add build status to README
changed node graph name
added travis configureation file
Contributors: Jim Vaughan, Kurt Christofferson, Rohan Agrawal

0.1.0 (2015-02-14)

updated verstion number
Added install rule
Initial Commit
Contributors: Rohan Agrawal