Merge remote-tracking branch 'origin/release-5.3.0'

CHANGELOG.rst

@@ -1,3 +1,18 @@
+5.3.0 (2018-8-14)
+---------------------------------
+- Renamed AssemblyState.msg to RobotAssemblyState.msg
+- Added error strings to MotionCommand.action
+- Made TackingOptions.msg fields more readable
+
+5.2.0 (2018-4-16)
+---------------------------------
+- Added interaction control and state messages
+- Added camera settings and control messages
+- Added endpoint names array messages
+- Modified IO configuration messages
+- Added intera_motion_msgs package for motion_interface
+- Modified eletrical gripper xacro for gazebo
+
 5.1.0 (2017-3-27)
 ---------------------------------
 - Moved to Apache 2.0 license

intera_common/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>intera_common</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>
     Common metapackage for Intera messages, and end effector URDF's
     and meshes for the Intera robots from Rethink Robotics.

intera_core_msgs/CMakeLists.txt

@@ -12,51 +12,48 @@ find_package(catkin REQUIRED COMPONENTS
 
 add_message_files( DIRECTORY msg
         FILES
-        NavigatorStates.msg
-        SEAJointState.msg
-        CollisionAvoidanceState.msg
-        NavigatorStates.msg
-        HeadState.msg
+        AnalogIOState.msg
         AnalogIOStates.msg
-        CameraControl.msg
         AnalogOutputCommand.msg
-        EndpointNamesArray.msg
-        EndpointState.msg
+        RobotAssemblyState.msg
+        CameraControl.msg
+        CameraSettings.msg
+        CollisionAvoidanceState.msg
+        CollisionDetectionState.msg
+        DigitalIOState.msg
         DigitalIOStates.msg
-        HeadPanCommand.msg
-        AnalogIOState.msg
         DigitalOutputCommand.msg
-        AssemblyStates.msg
-        CameraSettings.msg
-        AssemblyState.msg
-        NavigatorState.msg
-        JointCommand.msg
-        JointLimits.msg
-        NavigatorState.msg
+        EndpointNamesArray.msg
+        EndpointState.msg
         EndpointStates.msg
-        DigitalIOState.msg
-        CollisionDetectionState.msg
+        HeadPanCommand.msg
+        HeadState.msg
         HomingCommand.msg
         HomingState.msg
+        InteractionControlCommand.msg
+        InteractionControlState.msg
         IOComponentCommand.msg
         IOComponentConfiguration.msg
         IOComponentStatus.msg
         IODataStatus.msg
         IODeviceConfiguration.msg
         IODeviceStatus.msg
         IONodeConfiguration.msg
-        IOStatus.msg
         IONodeStatus.msg
+        IOStatus.msg
+        JointCommand.msg
+        JointLimits.msg
+        NavigatorState.msg
+        NavigatorStates.msg
+        SEAJointState.msg
         URDFConfiguration.msg
-        InteractionControlCommand.msg
-        InteractionControlState.msg
 )
 
 add_service_files( DIRECTORY srv
         FILES
-        SolvePositionIK.srv
-        SolvePositionFK.srv
         IOComponentCommandSrv.srv
+        SolvePositionFK.srv
+        SolvePositionIK.srv
 )
 
 add_action_files(DIRECTORY action FILES CalibrationCommand.action)

intera_core_msgs/msg/AssemblyState.msg → intera_core_msgs/msg/RobotAssemblyState.msg

@@ -1,9 +1,10 @@
+bool homed               # true if all joints are homed
 bool ready               # true if enabled and ready to operate, e.g., not homing
 bool enabled             # true if enabled
 bool stopped             # true if stopped -- e-stop asserted
 bool error               # true if a component of the assembly has an error
 bool lowVoltage          # true when the robot is in low voltage mode
-#
+
 # The following are specific to the robot top-level assembly:
 uint8  estop_button      # One of the following:
   uint8   ESTOP_BUTTON_UNPRESSED = 0   # Robot is not stopped and button is not pressed
@@ -16,4 +17,4 @@ uint8  estop_source      # If stopped is true, the source of the e-stop.  One of
   uint8  ESTOP_SOURCE_USER      = 1   # e-stop source is user input (the red button)
   uint8  ESTOP_SOURCE_UNKNOWN   = 2   # e-stop source is unknown
   uint8  ESTOP_SOURCE_FAULT     = 3   # MotorController asserted e-stop in response to a joint fault
-  uint8  ESTOP_SOURCE_BRAIN     = 4   # MotorController asserted e-stop in response to a lapse of the brain heartbeat
+  uint8  ESTOP_SOURCE_ENGINE    = 4   # MotorController asserted e-stop in response to engine request

intera_core_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>intera_core_msgs</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>
     Messages and Services required for communication with the Intera
     Robots from Rethink Robotics.

intera_motion_msgs/action/MotionCommand.action

@@ -3,12 +3,24 @@ string command
 string MOTION_START=start
 string MOTION_STOP=stop
 string MOTION_GENERATE=generate  # Generate path, but do not run
+
 Trajectory trajectory
 
 ---
 # result
 bool result
+
 string errorId
+string FAILED_TO_PARAMETERIZE=FAILED_TO_PARAMETERIZE
+string PLANNED_MOTION_COLLISION=PLANNED_MOTION_COLLISION
+string INVALID_TRAJECTORY_MESSAGE=INVALID_TRAJECTORY_MESSAGE
+string ENDPOINT_DOES_NOT_EXIST=ENDPOINT_DOES_NOT_EXIST
+string CARTESIAN_INTERPOLATION_FAILED=CARTESIAN_INTERPOLATION_FAILED
+string FINAL_POSE_NOT_WITHIN_TOLERANCE=FINAL_POSE_NOT_WITHIN_TOLERANCE
+string CONTROLLER_NOT_FOLLOWING=CONTROLLER_NOT_FOLLOWING
+string ZERO_G_ACTIVATED_DURING_TRAJECTORY=ZERO_G_ACTIVATED_DURING_TRAJECTORY
+string PLANNED_JOINT_ACCEL_LIMIT=PLANNED_JOINT_ACCEL_LIMIT
+
 TrajectoryAnalysis trajectory_analysis
 
 int32 last_successful_waypoint

intera_motion_msgs/msg/MotionStatus.msg

@@ -5,10 +5,11 @@ string current_trajectory
 uint32 current_waypoint
 uint32 motion_request
 
+# motion_status enum values:
 string MOTION_IDLE=idle
 string MOTION_PENDING=pending
 string MOTION_RUNNING=running
+string MOTION_STOPPING=stopping
 string MOTION_DONE=done
-string MOTION_PAUSED=paused
 string MOTION_PREEMPTED=preempted
 string MOTION_ERROR=error

intera_motion_msgs/msg/TrackingOptions.msg

@@ -6,13 +6,9 @@ float64  min_time_rate
 bool     use_max_time_rate
 float64  max_time_rate
 
-# How quickly to change the tracking time rate
-bool     use_time_rate_accel
-float64  time_rate_accel
-
-# How close (in rad) each joint should be to the final goal
+# Angular error tolerance at final point on trajectory (rad)
 float64[] goal_joint_tolerance
 
-# Settling time after reaching the end of the trajectory
-bool     use_goal_time_tolerance
-float64  goal_time_tolerance
+# Time for the controller to settle within joint tolerances at the goal (sec)
+bool     use_settling_time_at_goal
+float64  settling_time_at_goal

intera_motion_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>intera_motion_msgs</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>
     Intera Motion messages
   </description>

intera_tools_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>intera_tools_description</name>
-  <version>5.2.0</version>
+  <version>5.3.0</version>
   <description>
     Description of End Effector for Robots from Rethink Robotics.
     This package contains the URDF and meshes describing these tools.