CHANGELOG
Changelog for package tiago_controller_configuration
4.2.12 (2024-05-10)
4.2.11 (2024-05-09)
4.2.10 (2024-05-09)
4.2.9 (2024-05-07)
4.2.8 (2024-04-30)
Merge branch ‘omm/fix/urdf_complete_std’ into ‘humble-devel’ URDF std See merge request robots/tiago_robot!278
Suggested changed
Module, joy config and restored support for tiago dual
Omni related checks and files
Suggested changes
Launch files moved to TIAGo family standard
Merge branch ‘tpe/add_omni_controller’ into ‘humble-devel’ Add missing dependency for the omni_base controller See merge request robots/tiago_robot!279
Add missing dependency for the omni_base controller
Contributors: Oscar, davidterkuile, thomas.peyrucain
4.2.7 (2024-04-22)
Merge branch ‘sgg/feat/base_type_omni_base’ into ‘humble-devel’ Sgg/feat/base type omni base See merge request robots/tiago_robot!273
Fix whitespace
mobile_base_controller.launch.py Handle is_public_sim
Add param to ctor
Add use_sim parameter
Refactor avoiding if to reduce code complexity
Update new robot argument method Update new robot argument Update new robot argument Remove blank lines
Launch joint_state_broadcaster depending on the base_type Fix syntax Remove redundant check Remove redundant check
Fix syntax
Fix quotes in comparison
Parameterized mobile base type
Hardcoded omni_base controller
Contributors: Sergi Garcia, davidterkuile
4.2.6 (2024-04-16)
Merge branch ‘feat/ros2-pipelines’ into ‘humble-devel’ added public sim config for mobile base controller See merge request robots/tiago_robot!274
cosmetic
added public sim config for mobile base controller
Contributors: andreacapodacqua, antoniobrandi
4.2.5 (2024-04-10)
Add ros2controlcli dependency
Contributors: Noel Jimenez
4.2.4 (2024-03-06)
4.2.3 (2024-02-28)
4.2.2 (2024-02-02)
4.2.1 (2024-01-31)
4.2.0 (2024-01-31)
update license year
added impedance controller configuration
update gravity compensation controller config
Remove unused type parameter from controllers configuration
Contributors: Noel Jimenez, Sai Kishor Kothakota
4.1.2 (2024-01-19)
4.1.1 (2024-01-19)
adding the config files needed for robotiq
modifying where to find the urdfs for robotiq
updating the necessary dependencies for robotiq
Contributors: Aina Irisarri
4.1.0 (2024-01-18)
Merge branch ‘ros2-tiago-dual’ into ‘humble-devel’ Ros2 tiago dual See merge request robots/tiago_robot!240
Remove unused param
Contributors: David ter Kuile, davidterkuile
4.0.28 (2023-12-22)
adding pal_hey5 as dependency
removing temporal exception for hey5 gripper
relocate the pal-hey5 configuration and launch files
Contributors: Aina Irisarri
4.0.27 (2023-12-18)
4.0.26 (2023-12-14)
4.0.25 (2023-12-12)
Launch gripper from its controller_configuration package
Contributors: Aina Irisarri
4.0.24 (2023-12-12)
Bump module names
Contributors: Noel Jimenez
4.0.23 (2023-12-11)
Remove unused files
Contributors: Noel Jimenez
4.0.22 (2023-11-22)
Set ‘finishes: True’ for default_controllers module
Update cmake_minimum_required version to 3.8
Cleanup repository
Contributors: Noel Jimenez
4.0.21 (2023-11-15)
4.0.20 (2023-11-14)
Add website tag
Rename description and controller modules
Contributors: Noel Jimenez
4.0.19 (2023-11-13)
4.0.18 (2023-11-07)
Split bringup module
Contributors: Noel Jimenez
4.0.17 (2023-10-19)
Use wheels calibration if exists
Contributors: Noel Jimenez
4.0.16 (2023-09-18)
4.0.15 (2023-09-04)
4.0.14 (2023-07-20)
Rename FT Sensor
Fix ft_sensor_controller frame_id parameter
Add controller for the FT sensor
Contributors: Noel Jimenez
4.0.13 (2023-07-11)
Remove schunk wsg option
Launch controllers depending on robot arguments
Contributors: Noel Jimenez
4.0.12 (2023-07-05)
Remove pal flags dependency
Contributors: Noel Jimenez
4.0.11 (2023-06-28)
fix controllers launcher when there is no end_effector
Contributors: Noel Jimenez
4.0.10 (2023-06-14)
4.0.9 (2023-05-11)
remove ros1 commented dependencies
comment controller dependency
flake8 fixes
add conditional dependency and do not launch gravity compensation controller as default
Spawn gravity compensation controller inactive
Set gravity compensation controller parameters
Add gravity compensation controller
Contributors: Adria Roig, Noel Jimenez
4.0.8 (2023-05-11)
4.0.7 (2023-04-28)
set sim time for gazebo controller_manager
Contributors: Noel Jimenez
4.0.6 (2023-04-17)
4.0.5 (2023-03-06)
Merge branch ‘rm_use_sim_time’ into ‘humble-devel’ remove use_sim_time parameter See merge request robots/tiago_robot!191
remove use_sim_time parameter
Contributors: Jordan Palacios, Noel Jimenez
4.0.4 (2023-03-02)
Merge branch ‘fix_controllers_config’ into ‘humble-devel’ remove initial / from controllers config See merge request robots/tiago_robot!190
remove initial / from controllers config
Contributors: Jordan Palacios, Noel Jimenez
4.0.3 (2023-02-22)
4.0.2 (2023-02-08)
4.0.1 (2022-11-10)
Merge branch ‘update_license’ into ‘humble-devel’ Update license See merge request robots/tiago_robot!180
update license
Merge branch ‘fix_dependency’ into ‘humble-devel’ fix buildtool dependency See merge request robots/tiago_robot!179
fix buildtool dependency
Contributors: Jordan Palacios, Noel Jimenez
4.0.0 (2022-11-08)
Merge branch ‘cleanup’ into ‘humble-devel’ Cleanup package.xml files and rm duplicated launcher See merge request robots/tiago_robot!174
rm duplicated launcher
update package.xml deps
Merge branch ‘fix_substitution’ into ‘humble-devel’ fix end effector substitution See merge request robots/tiago_robot!169
fix end effector substitution
Merge branch ‘default_robot_name’ into ‘humble-devel’ Add missing default robot name See merge request robots/tiago_robot!168
add missing default robot name
Merge branch ‘update_copyright’ into ‘humble-devel’ update copyright and license See merge request robots/tiago_robot!167
update copyright and license
Merge branch ‘cleanup’ into ‘humble-devel’ Cleanup See merge request robots/tiago_robot!165
rm ros1 launchers
Merge branch ‘update_maintainers’ into ‘humble-devel’ Update maintainers See merge request robots/tiago_robot!163
update maintainers
Merge branch ‘linters’ into ‘humble-devel’ Linters See merge request robots/tiago_robot!159
rm print
linters
Merge branch ‘launch_refactor’ into ‘humble-devel’ launch files refactor See merge request robots/tiago_robot!158
launch files refactor
Merge branch ‘tiago_launcher’ into ‘galactic-devel’ Tiago launcher See merge request robots/tiago_robot!150
add todo
Merge branch ‘pal-hey5-ros2’ into ‘foxy-devel’ pal-hey5 launch files and config See merge request robots/tiago_robot!130
use tiago_launch_utils
add pal-gripper launch
update default controllers launch file
pal-hey5 launch files and config
Add basic tests to tiago_controller_configuration
Add extra joints
Add use_sim_time to controllers as a workaround for https://github.com/ros-controls/ros2_control/issues/325
Added new parameters required for joint trajectory controllers Also, enabled default controllers
Lower controller manager to 100hz
Using joint_state_broadcaster instead of controller
Increased controller manager update rate to match gazebo’s
Added twist_mux to the tiago bringup mobile_base_controller now uses the twist unstamped topic instead
Use correct namespacing for parameters
Using controller_manager launch_utils
Support for pal-gripper end effector
Now uses launch_pal utils
Added wrist to arm_controller
Added arm_controller, no wrists
Added head_controller
Added torso_controller
Added default_controllers with mobile_base and joint_state controllers
Added gazebo_controller_manager_cfg.yaml
tiago_controller_configuration readded and migrated to ros2
Ignoring tiago_bringup and tiago_controller_configuration for now
Contributors: Jordan Palacios, Noel Jimenez, Noel Jimenez Garcia, Victor Lopez, cescfolch, victor
2.0.55 (2021-01-15)
Merge branch ‘gravity_compensation_fix’ into ‘erbium-devel’ Update arm_3_link weight for gravity compensation See merge request robots/tiago_robot!120
Update motor torque constant arm_5_joint for gravity_compensation
Contributors: Adria Roig, victor
2.0.54 (2020-09-08)
Merge branch ‘new-endoscopic-dual’ of gitlab:robots/tiago_robot into new-endoscopic-dual
Contributors: daniellopez
2.0.53 (2020-07-30)
2.0.52 (2020-07-27)
Merge branch ‘safety_parameters’ into ‘erbium-devel’ Update default_safety_parameters.yaml with new changes in the safety of local joint control See merge request robots/tiago_robot!117
Update default_safety_parameters.yaml with new changes in the safety of local joint control
Contributors: saikishor, victor
2.0.51 (2020-07-15)
2.0.50 (2020-07-10)
2.0.49 (2020-07-01)
2.0.48 (2020-06-10)
2.0.47 (2020-05-15)
2.0.46 (2020-05-13)
2.0.45 (2020-05-12)
2.0.44 (2020-05-12)
2.0.43 (2020-05-08)
2.0.42 (2020-05-07)
2.0.41 (2020-05-07)
2.0.40 (2020-05-06)
2.0.39 (2020-04-21)
Merge branch ‘custom-ee’ into ‘erbium-devel’ Allow using custom end-effector See merge request robots/tiago_robot!102
Add parameter files for custom EE
Contributors: davidfernandez, victor
2.0.38 (2020-02-27)
2.0.37 (2020-02-14)
2.0.36 (2020-01-28)
Merge branch ‘specifics_file’ into ‘erbium-devel’ added missing actuator specifics file See merge request robots/tiago_robot!100
added missing actuator specifics file
Contributors: Sai Kishor Kothakota, Victor Lopez
2.0.35 (2019-11-06)
2.0.34 (2019-10-30)
2.0.33 (2019-10-21)
2.0.32 (2019-10-16)
2.0.31 (2019-10-10)
2.0.30 (2019-10-02)
2.0.29 (2019-09-27)
2.0.28 (2019-09-25)
2.0.27 (2019-09-17)
added missing effort control parameters for arm joint 4
Contributors: Hilario Tome
2.0.26 (2019-07-18)
2.0.25 (2019-07-09)
Merge branch ‘add-wsg-controller-dependency’ into ‘erbium-devel’ Add missing wsg controller config See merge request robots/tiago_robot!89
Add missing wsg controller config
Contributors: Victor Lopez
2.0.24 (2019-07-08)
2.0.23 (2019-06-07)
Merge branch ‘joint_traj_bug’ into ‘erbium-devel’ Fixes bjoin trajectory bug in torso controller See merge request robots/tiago_robot!87
Fixes bjoin trajectory bug in torso controller
Contributors: Adria Roig, Victor Lopez
2.0.22 (2019-05-21)
2.0.21 (2019-05-13)
2.0.20 (2019-05-09)
Merge branch ‘no_wrist_gravity’ into ‘erbium-devel’ Add gravity no wrist for new wrist model See merge request robots/tiago_robot!81
Update motor_torque_constant for the joints of the wrist
Add gravity no wrist for new wrist model
Contributors: Adria Roig, Victor Lopez
2.0.19 (2019-05-02)
2.0.18 (2019-04-23)
2.0.17 (2019-04-12)
2.0.16 (2019-04-12)
2.0.15 (2019-04-05)
Merge branch ‘wrist_current_control’ into ‘erbium-devel’ Add missing effort config files See merge request robots/tiago_robot!70
Add missing effort config files
Contributors: Adria Roig, Hilario Tome
2.0.14 (2019-04-03)
2.0.13 (2019-03-28)
2.0.12 (2019-03-26)
Merge branch ‘incorrect_arm_constraints’ into ‘erbium-devel’ Fix wrong constraints on arm joint traj controllers See merge request robots/tiago_robot!73
Fix wrong constraints on arm joint traj controllers
Contributors: Victor Lopez
2.0.11 (2019-03-26)
2.0.10 (2019-03-26)
2.0.9 (2019-03-22)
2.0.8 (2019-03-15)
Merge branch ‘minor-fixes’ into ‘erbium-devel’ Minor fixes See merge request robots/tiago_robot!72
Remove unuesd home_gripper script
Contributors: Victor Lopez
2.0.7 (2019-03-14)
Merge branch ‘actuator_simulation’ into ‘erbium-devel’ added more paramater to actuators See merge request robots/tiago_robot!71
removed empty spaces
fixed reduction ratio
added more paramater to actuators
Contributors: Hilario Tome
2.0.6 (2019-03-12)
2.0.5 (2019-02-26)
2.0.4 (2019-02-08)
2.0.3 (2019-02-05)
2.0.2 (2018-12-21)
2.0.1 (2018-12-20)
2.0.0 (2018-12-19)
Merge branch ‘specifics-refactor’ into ‘erbium-devel’ Generate automatically play_motion and approach_planner configs See merge request robots/tiago_robot!65
Remove deprecated files
fixes
Create configurations of gravity_compensation_with_controller_wrist
More refactor
Add head and migrate controller launch
1.0.23
changelog
Contributors: Procópio Stein, Victor Lopez
1.0.23 (2018-12-05)
1.0.22 (2018-12-04)
Merge branch ‘as_disable_safety’ into ‘erbium-devel’ Disable joint safety by default. See merge request robots/tiago_robot!64
Disable joint safety by default.
Contributors: alexandersherikov
1.0.21 (2018-11-29)
Merge branch ‘as_safety’ into ‘erbium-devel’ New joint safety parameters, add missing exec dependencies See merge request robots/tiago_robot!63
Add dependency on pal_local_joint_control.
New joint safety parameters, add missing exec dependencies
Contributors: alexandersherikov
1.0.20 (2018-11-19)
1.0.19 (2018-10-23)
1.0.18 (2018-09-19)
1.0.17 (2018-09-17)
1.0.16 (2018-08-06)
1.0.15 (2018-08-06)
1.0.14 (2018-08-01)
1.0.13 (2018-08-01)
1.0.12 (2018-07-30)
1.0.11 (2018-07-13)
Add missing simple_grasping_action dependency for hey5 launch
Contributors: Victor Lopez
1.0.10 (2018-07-10)
Merge branch ‘no_control’ into ‘erbium-devel’ No control See merge request robots/tiago_robot!52
Add no control local params for torso
Add no control local config files
Contributors: Adrià Roig, Hilario Tome
1.0.9 (2018-05-24)
Merge branch ‘model_utils’ into ‘erbium-devel’ refactoring local joint control See merge request robots/tiago_robot!51
working gravity compensation on robot after pal_local_joint control refactor
refactoring local joint control
Contributors: Hilario Tome
1.0.8 (2018-05-02)
1.0.7 (2018-05-02)
Merge branch ‘iron-config’ into ‘erbium-devel’ Remove arm controllers for Tiago Iron See merge request robots/tiago_robot!49
Remove arm controllers for Tiago Iron
Merge branch ‘remove-chessboard’ into ‘erbium-devel’ Remove chessboard, it’s a separate entity now See merge request robots/tiago_robot!47
Remove chessboard, it’s a separate entity now
Contributors: Hilario Tome, Victor Lopez, davidfernandez
1.0.6 (2018-04-10)
Merge branch ‘extra-joints-torque-state-controller’ into ‘erbium-devel’ Use extra joints on torque_state_controller See merge request robots/tiago_robot!41
Use extra joints on torque_state_controller
Contributors: Hilario Tome, Victor Lopez
1.0.5 (2018-03-29)
Add new extra joints
Contributors: Jordan Palacios
1.0.4 (2018-03-26)
Merge branch ‘recover-chessboard-tiago’ into ‘erbium-devel’ Recover chessboard tiago See merge request robots/tiago_robot!38
Revert “remove unused files” This reverts commit e50aca81d55736b99e108bb90d681862be39c028.
Merge branch ‘wbc-erbium’ into ‘erbium-devel’ WBC erbium See merge request robots/tiago_robot!37
Remove unnecessary launch file
Contributors: Adria Roig, Jordi Pages, Victor Lopez
1.0.3 (2018-03-16)
fixed typo in local joint control, commented out rpc
Contributors: Hilario Tome
1.0.2 (2018-03-06)
Publish_cmd to true, and deprecate publish_wheel_data
Contributors: Victor Lopez
1.0.1 (2018-02-22)
Add gravity_compensation_controller as run depend
Contributors: Adria Roig
1.0.0 (2018-02-21)
changed scaling gains to one for direct effort control
Fix gravity compensation issues
added more configuration files for local joint control
Contributors: Adria Roig, Hilario Tome
0.0.46 (2018-02-20)
added extra wbc controller to mode blacklist and started to add local joint control configuration files
removed wbc loading from titanium and steel controller launch files
Contributors: Hilario Tome
0.0.45 (2018-02-08)
0.0.44 (2018-02-06)
0.0.43 (2018-01-24)
include launch file now in pal_gripper package
remove no longer needed installation rule
remove unused files
Contributors: Jordi Pages
0.0.42 (2017-12-01)
added publish odom option in controller yaml
Contributors: Procópio Stein
0.0.41 (2017-10-31)
0.0.40 (2017-10-27)
0.0.39 (2017-07-12)
0.0.38 (2017-05-16)
0.0.37 (2017-05-05)
0.0.36 (2017-04-24)
Allow multiple Tiago to use the navigation stack
Contributors: davidfernandez
0.0.35 (2016-12-21)
0.0.34 (2016-11-06)
0.0.33 (2016-11-04)
launch current_limit_controller of the gripper
Contributors: Jordi Pages
0.0.32 (2016-10-26)
0.0.31 (2016-10-14)
0.0.30
Update changelog
Add missing dependencies
modify package description
add myself as maintainer
add myself as maintainer
0.0.29
Update changelog
0.0.28
Update changelog
0.0.27
Update changelog
Removing shadow hand controllers
0.0.26
Update changelog
0.0.25
Update changelog
0.0.24
changelog
0.0.23
Update changelog
0.0.22
Update changelog
0.0.21
Update changelog
Add imu_controller.launch
0.0.20
Update changelog
Remove wbc dependencies
0.0.19
Update changelog
Final values after testing in real robot
Update gravity compensation parameters to new format
0.0.18
changelog
enable preserve_turning_radius
enable wheel_data pub in mobile_base_controller
0.0.17
changelog
0.0.16
Update changelog
Fix typo/copypaste on adding torso1 joint and 2 joint instead of gripper jointS
0.0.15
Update changelog
Add fake parallel gripper controller launch with only one joint
0.0.14
Update changelog
0.0.13
Update changelog
Contributors: Jeremie Deray, Jordi Pages, Sam Pfeiffer, Victor Lopez
0.0.30 (2016-10-13)
Add missing dependencies
modify package description
add myself as maintainer
add myself as maintainer
Contributors: Jordi Pages, Victor Lopez
0.0.29 (2016-07-28)
0.0.28 (2016-07-28)
0.0.27 (2016-07-19)
Removing shadow hand controllers
Contributors: Sam Pfeiffer
0.0.26 (2016-07-08)
0.0.25 (2016-06-28)
0.0.24 (2016-06-15)
0.0.23 (2016-06-15)
0.0.22 (2016-06-15)
0.0.21 (2016-06-15)
Add imu_controller.launch
Contributors: Victor Lopez
0.0.20 (2016-06-14)
Remove wbc dependencies
Contributors: Victor Lopez
0.0.19 (2016-06-14)
Final values after testing in real robot
Update gravity compensation parameters to new format
Contributors: Sam Pfeiffer
0.0.18 (2016-06-14)
enable preserve_turning_radius
enable wheel_data pub in mobile_base_controller
Contributors: Jeremie Deray
0.0.17 (2016-06-13)
0.0.16 (2016-06-13)
Fix typo/copypaste on adding torso1 joint and 2 joint instead of gripper jointS
Contributors: Sam Pfeiffer
0.0.15 (2016-06-13)
Add fake parallel gripper controller launch with only one joint
Contributors: Sam Pfeiffer
0.0.14 (2016-06-10)
0.0.13 (2016-06-10)
0.0.12 (2016-06-07)
Separating launch of joint_state_controller and force_torque_controller
Contributors: Sam Pfeiffer
0.0.11 (2016-06-03)
Remove extra joints as the casters are not published anymore
0.0.10
Updated changelog
0.0.9
Update changelog
0.0.8
Update changelog
Add missing wbc dependencies to tiago_controller_configuration refs #13364
0.0.7
Update changelog
0.0.6
Update changelogs
Fixed wheel sleeping in gazebo, and added head transmission (This can break the real robot if a blacklist is not implemented in pal_ros_control
0.0.5
Update changelog
Adding new defaults for TIAGo Current limit controller for the wheels. Soften on effort values config for a specific robot.
launch Diff drive controller multipliers
Removing specific current controller for wrist as the full arm one works already
Compensate low force of joint 2
tune parameters
fix sign of arm 4
Add gravity and wbc controllers load on boot
remove hey5 hand from URDF
Add extra_joints spec for joint state controller Only in hardware deployments: Load set of extra joints to be published as dummies by the joint_state_controller.
Update finger pids so the hand works with PAL Hand plugin in gazebo
Update with all joints until the grav compensation is fixed Add wrist controller
Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Hilario Tome, Jeremie Deray, Sam Pfeiffer, Victor Lopez, jordi.pages@pal-robotics.com
0.0.4 (2015-05-20)
Add current limit controller
Fix name of spawner
Add hand controller launch and config file
Remove ref to hand
Gravity compensation config & launch file
Adding tiago_shadow, tiago with shadow lite hand (! no dependency on shadow packages on purpose!)
Add install rule for home_gripper.py
Contributors: Bence Magyar
0.0.3 (2015-04-15)
0.0.2 (2015-04-15)
Move play_motion to controller launch files, update dependencies accordingly
Add iron to startup
Reduce acceleration limits
add missing components for titanium+chessboard
Add script to automatically open gripper
Changes to fix finger shaking. Much better than before.
Use steel and titanium tiago, launch files parametrized
Change gripper joint names and add pids
Change finger names and add controller + first gains
Finetune of pids to prevent head shaking
Add separate joint traj cont constraints for head
Contributors: Bence Magyar, Enrique Fernandez, Jordi Pages
0.0.1 (2015-01-20)
Load joint traj controllers config file
Install config and launch files
Add 0 pids for fingers
Update inertias, Center of Mass’ and related pids Hand commented until it works on gazebo
Add tiago_bringup and tiago_controller_configuration
Contributors: Bence Magyar