CHANGELOG

Changelog for package tiago_pro_controller_configuration

1.32.3 (2025-11-28)

1.32.2 (2025-11-12)

1.32.1 (2025-11-03)

1.32.0 (2025-10-23)

1.31.2 (2025-10-21)

1.31.1 (2025-10-13)

  • preparing pkg for public release

  • Contributors: andreacapodacqua

1.31.0 (2025-08-27)

1.30.1 (2025-08-05)

1.30.0 (2025-08-01)

1.29.5 (2025-08-01)

1.29.4 (2025-07-18)

1.29.3 (2025-07-16)

1.29.2 (2025-07-10)

  • Fix missing quote for tsid_default_controllers module

  • Contributors: Noel Jimenez

1.29.1 (2025-07-10)

1.29.0 (2025-07-08)

1.28.0 (2025-06-18)

1.27.1 (2025-06-17)

  • Temporal fix for torso tolerance

  • Contributors: Aina Irisarri

1.27.0 (2025-06-06)

1.26.4 (2025-06-05)

1.26.3 (2025-06-05)

1.26.2 (2025-06-04)

  • Adding conditions to properly start the SEA broadcaster

  • Contributors: oscarmartinez

1.26.1 (2025-06-03)

1.26.0 (2025-05-29)

  • Adding check to the broadcaster

  • Adding missing launch of the gravity controller in torque mode

  • Launching the SEA broadcaster and basic calibration movements

  • Contributors: oscarmartinez

1.25.8 (2025-05-28)

  • reduce to 1cm

  • update trajectory tolerance

  • update torso controller with trajectory constraint

  • fix pipeline

  • delete whitespace

  • fix whitespace

  • add cartesian vel diff local frame

  • update manipulation cube

  • update x of the manipulation cube

  • update gains for joint_space_controller_vel

  • update gains for cartesian velocity

  • remove torso_lift_joint for cartesian controller

  • fix name from triago to tiagopro

  • update yaml with new gains and namespaces

  • separate cartesian_vel gains

  • add manipulation cube

  • update tsid_default_controllers launch file

  • update gains

  • Fix typo in module

  • Add torso joint space controller

  • Add tsid controllers dependency

  • Rename torso param files

  • Add tsid controllers module

  • Add launch file to load tsid controllers

  • Add tsid controller param files, templated

  • fix tiago pro instead of triago

  • add forward velocity control for the arms

  • Contributors: David ter Kuile, ileniaperrella

1.25.7 (2025-05-19)

  • Merge branch ‘omm/inertia_shaping_controllers’ into ‘humble-devel’ Launching the inertia shaping controllers if torque_estimation enabled See merge request robots/tiago_pro_robot!125

  • Linters

  • Launching the inertia shaping controllers if torque_estimation enabled

  • Contributors: oscarmartinez, thomaspeyrucain

1.25.6 (2025-05-08)

1.25.5 (2025-05-02)

1.25.4 (2025-04-17)

  • Add motion file for allegro and rebase

  • Add allegro hand controller

  • Contributors: Aina

1.25.3 (2025-04-03)

  • Simplify gravity compensation

  • Remove unused param files

  • Contributors: David ter Kuile

1.25.2 (2025-04-02)

1.25.1 (2025-03-31)

  • Simplify arm controllers

  • Contributors: David ter Kuile

1.25.0 (2025-03-27)

  • Adding proper module config

  • Support for SEA in the controllers

  • Contributors: oscarmartinez

1.24.0 (2025-03-25)

1.23.4 (2025-03-25)

1.23.3 (2025-03-18)

  • Remove unused imu broadcaster

  • Contributors: David ter Kuile

1.23.2 (2025-02-28)

1.23.1 (2025-02-27)

1.23.0 (2025-02-24)

1.22.2 (2025-02-18)

1.22.1 (2025-01-23)

1.22.0 (2025-01-22)

1.21.0 (2025-01-16)

1.20.0 (2025-01-07)

1.19.0 (2024-12-10)

1.18.0 (2024-12-02)

  • Add head controller

  • Change head controller path

  • Contributors: Aina

1.17.0 (2024-11-21)

1.16.0 (2024-11-08)

  • Remove unused arm config files Config files are taken from pal_sea_arm on its launcher

  • Contributors: Noel Jimenez

1.15.0 (2024-11-06)

  • update motor torque constant for pal-pro-gripper (temporary)

  • Contributors: ileniaperrella

1.14.2 (2024-11-06)

1.14.1 (2024-10-30)

1.14.0 (2024-10-29)

  • add gravity compensation dependency

  • Contributors: ileniaperrella

1.13.0 (2024-10-29)

  • Set update_rate for joint_state_broadcaster

  • Contributors: Noel Jimenez

1.12.1 (2024-10-28)

1.12.0 (2024-10-28)

1.11.0 (2024-10-25)

  • fix typo

  • update params for gravity compensation

  • delete wrong joint impedance controller

  • open loop arg set as true

  • add dependency for omni_base_controller_configuration

  • Contributors: ileniaperrella

1.10.1 (2024-10-22)

  • Merge branch ‘fix/gravity-spawn’ into ‘humble-devel’ Use Unless condition on the load of gravity compensation See merge request robots/tiago_pro_robot!78

  • Use Unless condition on the load of gravity compensation

  • Merge branch ‘air/feat/arm_controllers’ into ‘humble-devel’ Change back the arm controllers into the default controllers See merge request robots/tiago_pro_robot!79

  • Change back the arm controllers into the default controllers

  • Contributors: Aina, ileniaperrella, thomaspeyrucain

1.10.0 (2024-10-21)

  • load gravity as default controller (only params)

  • Contributors: ileniaperrella

1.9.0 (2024-10-11)

1.8.2 (2024-10-02)

1.8.1 (2024-09-27)

1.8.0 (2024-09-19)

1.7.0 (2024-09-12)

1.6.0 (2024-09-10)

  • set head controller to perform open loop control

  • Contributors: lorenzoferrini

1.5.0 (2024-08-29)

  • Refactor mobile_base_controller launch

  • Contributors: David ter Kuile

1.4.0 (2024-08-22)

  • Add confif file for mobile base from omni_base package

  • Contributors: Aina

1.3.0 (2024-08-08)

  • Change arm controllers launch to the arm_controller launch file

  • fix usi_sim_condition

  • Add arm default controller launch file and module

  • Add arm_controller launch file

  • Add condition for arms controllers

  • Contributors: Aina

1.2.0 (2024-08-07)

  • Use controller_type from the controllers config

  • Contributors: Noel Jimenez

1.1.0 (2024-08-05)

  • update gravity compensation conf file

  • fix typo on reduction_ratio param

  • root link changed

  • controller name not the same as defined in the launch file

  • Remove use_stamped_vel parameter

  • Contributors: Noel Jimenez, ileniaperrella

1.0.13 (2024-07-09)

  • Add warning for pal_module_cmake not found

  • change module name into 20_*

  • Contributors: Aina, Noel Jimenez

1.0.12 (2024-06-27)

  • Merge branch ‘dtk/fix-gazebo-urdf’ into ‘humble-devel’ Dtk/fix gazebo urdf See merge request robots/tiago_pro_robot!51

  • Add imu sensor broadcaster

  • Contributors: David ter Kuile, davidterkuile

1.0.11 (2024-06-26)

  • Merge branch ‘dtk/move-robot-args’ into ‘humble-devel’ Change import for launch args See merge request robots/tiago_pro_robot!50

  • Change import for launch args

  • Contributors: David ter Kuile, davidterkuile

1.0.10 (2024-05-22)

1.0.9 (2024-05-09)

1.0.8 (2024-04-26)

1.0.7 (2024-04-18)

1.0.6 (2024-04-17)

1.0.5 (2024-04-16)

  • Merge branch ‘dtk/feat/add-modules’ into ‘humble-devel’ Dtk/feat/add modules See merge request robots/tiago_pro_robot!32

  • Remove gravity_compensation_controller

  • Change module number prefix to 10

  • Add modules

  • Contributors: David ter Kuile, Noel Jimenez, davidterkuile

1.0.4 (2024-04-10)

  • Add ros2controlcli dependency

  • Contributors: Noel Jimenez

1.0.3 (2024-03-26)

1.0.2 (2024-03-26)

1.0.1 (2024-03-22)

  • Merge branch ‘dtk/fix/restructure’ into ‘humble-devel’ Dtk/fix/restructure See merge request robots/tiago_pro_robot!28

  • update copyright year

  • Add conditional launch for mobile base controller

  • Remove unused imports for flake test

  • Add missing bracked

  • Restructure launch files controller_configuration

  • Merge branch ‘dtk/fix/add-hector-gazebo-plugin’ into ‘humble-devel’ Add force_based_move gazebo plugin for omni base See merge request robots/tiago_pro_robot!27

  • fix linters

  • added hector_gazebo_plugin dep and disabled mobile base controller in simulation

  • Merge branch ‘dtk/fix/camera-simulation’ into ‘humble-devel’ Dtk/fix/camera simulation See merge request robots/tiago_pro_robot!26

  • Update linter issues

  • integrate mobile_base_controller

  • Contributors: David ter Kuile, andreacapodacqua, davidterkuile, ileniaperrella

1.0.0 (2024-01-30)

  • Merge branch ‘ros2-migration’ into ‘humble-devel’ Ros2 migration See merge request robots/tiago_pro_robot!23

  • Migrate to new version of gravity_compensation_controller

  • fix depend name

  • remote type of the controllers in the yaml (not necessary already in the launch)

  • adding missing dep

  • duplicated file

  • update to 3.8 the cmake_minimum_required Version

  • delete export not needed

  • update launch files with launch_pal structure

  • migration launch files

  • CMakeLists and package files

  • config files

  • migration of CMakeLists.txt and package.xml to ros2

  • Contributors: Adria Roig, ileniaperrella

0.0.11 (2023-11-08)

  • Merge branch ‘smooth_position_control’ into ‘master’ Smooth position control See merge request robots/tiago_pro_robot!20

  • Modify parameters for direct_position_control

  • Add parameters for direct_position_control

  • Contributors: Adria Roig, Sai Kishor Kothakota

0.0.10 (2023-10-20)

  • Merge branch ‘change_name’ into ‘master’ Change tiago_v2_prototype to tiago_pro + move arm to an external package See merge request robots/tiago_pro_robot!16

  • Change tiago_v2_prototype to tiago_pro + move arm to an external package

  • Contributors: Jordan Palacios, thomaspeyrucain

0.0.9 (2023-05-25)

0.0.8 (2023-05-24)

  • Merge branch ‘wbc_per_arm’ into ‘master’ Wbc per arm See merge request robots/tiago_pro_robot!10

  • added the wbc_controllers launch to controller configuration

  • fix direct_control adding more args to control separately arm left and arm right

  • moved the direct_control launch to launch folder

  • Contributors: Sai Kishor Kothakota, ileniaperrella

0.0.7 (2023-05-24)

  • update the impedance gains on the robot

  • Contributors: Sai Kishor Kothakota

0.0.6 (2023-05-24)

  • Merge branch ‘gravity_compensation_per_arm’ into ‘master’ added another launch file for gravity compensation where with the arg side it… See merge request robots/tiago_pro_robot!9

  • load the parameters of the gravity compnesation with ros_bringup

  • make gravity_compensation_controller per arm launch more generic

  • added another launch file for gravity compensation where with the arg side it is possible to 1 arm instead of both

  • Merge branch ‘impedance-controllers’ into ‘master’ Impedance controllers See merge request robots/tiago_pro_robot!8

  • increase the timeout of the imepdance controllers

  • remove the start of gripper controllers

  • impedance kp kd updated

  • fix config file directory

  • updated actuators params for gravity compensation

  • impedance controllers files for both arms

  • gripper controllers added

  • Merge branch ‘fix_motions’ into ‘master’ Fix motions See merge request robots/tiago_pro_robot!7

  • Update the acceleration and velocity limits for the mobile base controller

  • Contributors: Sai Kishor Kothakota, ileniaperrella

0.0.5 (2023-05-22)

  • added timeout to the joint_state_controller

  • Contributors: Sai Kishor Kothakota

0.0.4 (2023-05-20)

  • Merge branch ‘flip_arm_link_3’ into ‘master’ remove joy_teleop from bringup and use startup as the incrementer server is… See merge request robots/tiago_pro_robot!6

  • added the missing head_action dependency

  • Don’t start actuator pid controllers and position controllers by default, and handle it by an application

  • added the point head action to the default controllers launch file

  • load the mobile_base_controller and increase the timeout to 300 seconds

  • Contributors: Sai Kishor Kothakota

0.0.3 (2023-05-16)

0.0.2 (2023-05-16)

0.0.1 (2023-05-16)

  • Added gravity compensation controller dependency

  • Merge branch ‘new_v2_bringup’ into ‘master’ New v2 bringup and urdf See merge request robots/tiago_pro_robot!1

  • Added head_controller to joint_trajectory_controllers.yaml

  • Merge branch ‘play-motion’ into ‘new_v2_bringup’ Play motion See merge request robots/tiago_pro_robot!3

  • update the motor torque constants to proper values

  • delete files copied from canopies pkgs

  • Merge branch ‘gripper-integration’ into ‘new_v2_bringup’ Grippers integration See merge request robots/tiago_pro_robot!2

  • gripper controller params set in the current pkg

  • controller added for grippers

  • grippers robotiq-2f-85 added for both arms

  • Update the motor torque constants for the left and the right arm

  • Update the robot model chaines for the gravity compensation controller

  • remove the invalid torso_yaw_joint configuration

  • reenable right_7_joint

  • Disabling arm right 7 temporarily

  • Adding missing arm controllers

  • added the configuration of the gravity compenesation from canopies configuration

  • added the bringup package and the configuration

  • update for new arms placement

  • Add arm controllers

  • First commit

  • Contributors: Jordan Palacios, Luca Marchionni, Narcis Miguel, Sai Kishor Kothakota, ileniaperrella