v12.5.0

Features:

1. Added vacuum gripper tool.
   You can add vacuum gripper to any robot link. It uses https://github.com/drfenixion/Gazebo-Vacuum-Gripper-Plugin improved and fixed fork of Gazebo-Vacuum-Gripper-Plugin. Looks like only one working version currently for GZ.

Improvements:

1. Added config directory with controllers config (ros2_control) to ROS2 package for basic code generator.

v12.4.0

Fixes:

1. Deactivated IK tool. Some issues here, it deactivated until resolved.

v12.3.1

Improvements:

1. Downgraded minimum Python version to 3.11 from 3.12.
   Fixed Python version missmatch at Windows FreeCAD.

v12.3.0

Improvements:

1. Added robot_part_origin folder for original elements for make_robot_link_filled tool. Hide original elements (f.e. body). Hide part wrapper of original element.

Fixes:

1. Fixed error when change link Label if link in Child/Parent of any joint.
2. Fixed notifications spam - 'Joint has no parent'.

Improvement 1 images

v12.2.1

Improvements:

1. Decreased one tick of rotation of Rotation tools to 45% (from 90%).

Fixes:

1. Fixed Manage Link Display tool (now always toggleable checkboxes).

v12.2.0

Features:

1. Added Forward & Inverse Kinematics Tool (RoboTool).
   Thanks for contribution @u4456163-wq

            Select a robot, then open this tool to:
              • Choose the End Effector (tip link) for IK.
              • Inspect the current end-effector position (FK).
              • Enter a Cartesian target (X, Y, Z in millimetres).
              • Solve IK via iterative Jacobian pseudo-inverse
                on the isolated serial sub-chain only.
              • See solved joint angles in a results table.
              • Apply the solution → live 3-D animation.
              • Option to restore the original pose.
             Algorithm: Jacobian pseudo-inverse, step-limited, up to 1 000 iterations, tol = 1 × 10⁻⁴ mm.
   

v12.1.0

Improvements:

1. Added 'multicopter_sverk' robot type.
   This type will be used by external code generator for generate Sverk framework (PX4 v1.16 based) packages for your multicopter.

Fixes:

1. Added limit tag (with velocity and effort) for continious joint (fix rqt_joint_trajectory_controller error ros-controls/ros2_controllers#2390)

v12.0.11

Fixes:

1. Disabled DH joints Parent/Child rejoin (fixed related error).

v12.0.10

Fixes:

1. Added backward compatability automatic converter for Parent/Child Label2 names of Joints.
   This converts Label2 to Label1 in Parent/Child of Joints. This is necessary because a change was made several versions ago that caused Label1 to be used in Parent/Child of Joints instead of Label2. This caused the Joint to be unlinked if Label1 and Label2 didn't match in the Parent or Child of Joint. This bug has been fixed in this release.
   If you already (after unlink) linked joints manually is also ok.

v12.0.9

Fixes:

1. Fixed robot trajectory loader context menu.