Changelog for package rm_chassis_controllers
0.1.11 (2023-06-20)
- Merge pull request #132 from chenhuiYu00/change_chassis_topic
Change chassis command topic.
- Change chassis command topic.
- Merge branch 'rm-controls:master' into master
- Merge pull request #123 from chenhuiYu00/dev/balance
Add balance auto exit block
- Update balance model value.
- Rename BalanceMode.
- Separate balance model into functions.
- Use realtime pub in balance state.
- Merge branch 'master' into dev/balance
- Merge pull request #120 from ye-luo-xi-tui/master
0.1.10
- Update GYRO to RAW and enum rename.
- Merge branch 'master' into dev/balance
- Balance auto exit block add pitch limit.
- Update auto exit block.
- Add balance auto exit block.
- Merge branch 'rm-controls:master' into gpio_calibration_controller
- Contributors: 1moule, ye-luo-xi-tui, yuchen
0.1.10 (2023-03-25)
- Merge pull request #112 from ljq-lv/Delete
Delete the chassis mode "GYRO"
- Merge pull request #115 from Edwinlinks/fix-odom
Add manner to fix odom2base by adding outside odometry.
- Merge pull request #119 from ye-luo-xi-tui/balance_standard
Clear position when position_des minus position_act bigger than threshold
- Modify topic name and add comment.
- Delete the unused header.
- Add manner to fix odom2base by adding outside odometry.
- Merge branch 'rm-controls:master' into master
- Modified the chassis's README
- Delete the chassis mode "GYRO"
- Merge pull request #111 from d0h0s/master
Updated README.md of rm_chassis_controllers.
- Repaired the example of chassis_controller.
- Added the parameters of Omni and fixed the inappropriate description.
- Updated README.md of rm_chassis_controllers.
- Merge pull request #108 from Aung-xiao/master
add mecanum.yaml
- change the name of the controller
- add mecanum.yaml
- Merge pull request #106 from ye-luo-xi-tui/master
0.1.9
- Clear position when position_des minus position_act bigger than threshold.
- Contributors: Aung-xiao, Edwinlinks, QiayuanLiao, d0h0s, ljq-lv, ye-luo-xi-tui, yezi
0.1.9 (2023-02-21)
- Merge pull request #105 from ljq-lv/gimbal_toward
Add follow gimbal's chassis control
- Add follow gimbal's chassis control
- Add follow gimbal's chassis control
- Merge pull request #100 from ye-luo-xi-tui/balance_standard
Add balance chassis controller
- Update note.
- Update test.
- Update controller description.
- Merge branch 'master' into balance_standard
- Modify the expected location update policy.
- Take some joints' name as params.
- Fix warning.
- Add power limit.
- Compute state matrix and control matrix with given params.
- Add balance_chassis's odometry.
- Transform IMU's data to base_link.
- Try to use PID controller to fix the problem that one block's position is differ from another.
- Revised dynamics model and remove gazebo dependency.
- Merge pull request #97 from ye-luo-xi-tui/master
0.1.8
- Fix mistake of orientation data.
- Add some test codes for balance chassis.
- Contributors: ljq-lv, ye-luo-xi-tui, yezi
0.1.8 (2022-11-24)
- Merge branch 'master' into target_velocity_correction
- Merge pull request #89 from rm-controls/dev
Merge branch 'dev' into master
- Merge pull request #88 from NaHCO3bc/dev
Add a push_back of joint_handles in the new OmniController.
- Add a push_back of joint_handles in the new OmniController.
- Merge pull request #86 from NaHCO3bc/Readme
Fix the dependence part bug.
- Fix the dependence part bug.
- Merge pull request #85 from ye-luo-xi-tui/master
0.1.7
- Contributors: NaHCO3bc, ye-luo-xi-tui, yezi
0.1.7 (2022-09-10)
- Merge pull request #83 from rm-controls/dev
Merge the new OmniController to master
- Merge pull request #82 from NaHCO3bc/dev
Fix some bugs in the new OmniController.
- Compute the params and fix some bugs.
- Rename the function forwardKinematics to odometry.
- Merge pull request #80 from qiayuanliao/master
New and elegant OmniController
- Fix bug in the new OmniController
- Add a new and elegant OmniController
- Merge remote-tracking branch 'origin/master'
- Contributors: NaHCO3bc, QiayuanLiao, qiayuan
0.1.6 (2022-06-16)
- Merge remote-tracking branch 'origin/master'
- Contributors: qiayuan
0.1.5 (2022-06-10)
- Update frames in update function.
- Add command_source_frame to follow mode.
- Merge remote-tracking branch 'origin/master'
- 0.1.4
- Add damping behavior to ReactionWheelController
- Add recover behavior to ReactionWheelController
- Add a low-pass filter to eliminate the constant pitch angle offset to ReactionWheelController
- Add a naive method for determining orientation of balance chassis
- Use new reaction wheel state space model
- Add setZero to Q and R
- Merge remote-tracking branch 'origin/master'
- Remove "convert model from continuous to discrete time" from ReactionWheel, the rm_common::Lqr accept continuous model.
- Merge pull request #57 from NaHCO3bc/master
Update ReactionWheelController
- Change the number of joint name reads,change the QR matrix to an array and update the rm_chassis_controllers_plugins.xml.
- Merge branch 'chassis/reaction_wheel'
- Merge pull request #56 from NaHCO3bc/chassis/reaction_wheel
Update ReactionWheelController
- Update reaction_wheel.cpp and add template_reaction_wheel.yaml
- Add some comments of ReactionWheelController
- Remove BalanceController
- Add ReactionWheelController
- Merge pull request #51 from Edwinlinks/sentry_catapult
Complete sentry catapult and delete the redundant code
- Merge branch 'master' into gimbal_track
- Complete sentry catapult and delete the redundant code
- Merge pull request #45 from mlione/master
Delete some config files in rm_controllers.
- Merge pull request #50 from ye-luo-xi-tui/ori
Make rm_orientation_controller publish tf use imu data on the topic
- Delete some config files in rm_controller.
- Add a param publish_odom_tf, it decided whether tf would be published.
- Merge pull request #46 from ye-luo-xi-tui/master
Deprecated imu_filter_controller
- Merge branch 'master' into gimbal_track
- Contributors: Edwinlinks, QiayuanLiao, YuuinIH, mlione, nahco3bc, qiayuan, yezi
0.1.3 (2022-03-28)
- Merge branch 'master' into forward_feed
- Merge pull request #40 from ye-luo-xi-tui/maintain
Delete configuration of robot_state_controller in each of controllers' config file
- Merge branch 'master' into maintain
# Conflicts:
# rm_chassis_controllers/config/standard3.yaml
- Merge pull request #41 from ye-luo-xi-tui/standard3
Update standard3 config
- Merge branch 'master' into 'standard3'.
- Merge branch 'master' into maintain
# Conflicts:
# rm_chassis_controllers/config/standard3.yaml
# rm_chassis_controllers/config/standard4.yaml
- Delete configuration of robot_state_controller in each of controllers' config file
- Merge branch 'master' into standard3
- Add missing parameters and format rm_chassis_controllers
- Update standard3 config
- Merge remote-tracking branch 'origin/master'
- Update standard3 chassis_controller config.
- Contributors: QiayuanLiao, qiayuan, ye-luo-xi-tui, yezi
0.1.2 (2022-01-08)
- Merge pull request #31 from ye-luo-xi-tui/modify_params
Modify chassis configuration
- Update standard3.yaml.
- Update sentry chassis config.
- Update standard5.yaml
- Merge pull request #27 from ye-luo-xi-tui/omni_wheel_controller
Add omni wheel controller
- Fix bug in kinematics.
- Change param name.
- Merge branch 'master' into omni_wheel_controller
- Merge remote-tracking branch 'origin/master'
- Merge branch 'rm-controls:master' into master
- Merge pull request #24 from ye-luo-xi-tui/fix_power_limit
Fix a bug in power limit.
- Add OmniController.
- Fix a bug in power limit.
(cherry picked from commit 81d1e880ea67aed189cb762819f63d4a5fba6b9b)
- Merge remote-tracking branch 'origin/master'
- Merge branch 'rm-controls:master' into master
- Merge branch 'rm-controls:master' into master
- Merge pull request #19 from ye-luo-xi-tui/new_power_limit
New power limit
- Add power_offset in new power limit
- Merge branch 'master' of https://github.com/YuuinIH/rm_controllers
- Optimize the code.
- New power limit
- Format
- Use imu_sensor_interface in BalanceController
- Merge branch 'gimbal/opti_or_simplify' into chassis/balance_imu_interface
- Code style
- Set odom tf in each update of rm_chassis_controllers
- Merge branch 'master' into chassis/balance_imu_interface
- Run pre-commit
- Modify ChassisBase to template class prepare for adding imu_sensor_interface(only BalanceChassis)
- Update the config of imu_chassis_controllers, load only one controller on launch instead of spawn controllers
- Fix pre-commit
- Correct code format.
- Correct code format.
- Correct format.
- Merge remote-tracking branch 'origin/chassis/fix_filter' into chassis/fix_filter
# Conflicts:
# rm_chassis_controllers/src/chassis_base.cpp
# rm_chassis_controllers/src/swerve.cpp
- Filter the linear vel before transform and filter the angular vel after PID.
- Delete if (std::abs(vel_cmd_.x) + std::abs(vel_cmd_.y) >= 0.01)
- Merge branch 'master' into chassis/fix_filter
- Delet #endif
- Merge remote-tracking branch 'origin/master'
- Filter the linear vel before transform and filter the angular vel after PID.
- Set transform on buffer when publishing odom tf.
- Update static_transform_publisher from tf to tf2
- Merge branch 'namespace'
# Conflicts:
# rm_chassis_controllers/README.md
- Merge pull request #15 from ye-luo-xi-tui/namespace
Change name of namespace:from hardware_interface to rm_control
- Merge pull request #10 from ye-luo-xi-tui/master
Update README of chassis controller
- Change name of namespace:from hardware_interface to rm_control.
- Update README.md of rm_chassis_controllers
- Fix format error
- Add doxygen on sentry.h
- Add doxygen on chassis_base.h
- Add doxygen on mecanum.h
- Add doxygen on balance.h
- Add nav_msgs to rm_chassis_controllers
- update README of chassis controller
- update README of chassis controller
- Update README.md
- Merge pull request #9 from ye-luo-xi-tui/master
update README.md of chassis controller
- README.md
- Code style
- Use “pragma once” in rm_chassis_controllers headers instead of include guards.
- Update shooter param's description.
- Correct readme format.
- Correct readme format.
- Correct readme format.
- Update controllers README.
- Update controllers README.
- Run pre-commit
- Format rm_chassis_controllers using clang-format
- Contributors: BruceLannn, QiayuanLiao, YuuinIH, chenzheng, kbxkgxjg, qiayuan, ye-luo-xi-tui, yezi
0.1.1 (2021-08-12)
- Set all version to the same
- Add license to rm_chassis_controllers and rm_gimbal_controllers source files
- Remove test_depend of rm_chassis_controllers
- Merge remote-tracking branch 'alias_memory/metapackage'
- Move all files to rm_chassis_controllers/rm_chassis_controllers, prepare for merge
- Contributors: qiayuan