2.5.0

2.5.0 (2026-08-22)

• New features:
  • ECM teleoperation supports an endoscope-roll offset and alternate master arms, including Haply devices.
  • Added custom cannula-depth configuration; identity transforms are now accepted in base-frame configuration files.
  • Added native Si SUJ ESSJ support, with updated full-system and simulated patient-cart configurations.
  • Added optional foot-pedal support when using the default pedal tray and Haply test configurations.
  • Extended the system configuration wizard with MTM x-offset support and Windows build support.
  • Changed the default MTM kinematic model to closed IK.
• API changes:
  • Adopted prmSimulationType throughout the system; simulation is now an enum rather than a boolean.
  • Delegated set_base_frame handling to the generic CRTK bridge and updated the ROS system bridge accordingly.
• Bug fixes:
  • Prevented unnecessary MTM reorientation when PSM orientation has not changed.
  • Improved teleoperation state handling, including preventing ECM teleoperation when no operator is present.
  • Fixed gravity-compensation behavior for Classic ECMs and updated stapler configuration and parameter approximations.
  • Removed a duplicate Apply call from the ROS dvrk_system application and improved cleanup handling.
• Build:
  • Updated CMake support for current cisst, added Qt6 and non-Qt builds, and removed cisstCommonXML dependencies.
  • Added missing colcon dependencies and improved Windows compatibility.
• Documentation:
  • Added scripts to verify DH parameters.