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62a6c7f @rtv preparing version 4.1.0 release
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1 Stage RELEASE.txt
2 ==================
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Richard Vaughan authored
3
62a6c7f @rtv preparing version 4.1.0 release
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4 These are the Stage release notes.
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5
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6 For introduction and license see README.txt
7 For installation notes see INSTALL.txt
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8
9
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10 Version 4.1.1
11 -------------
12 * fixed bugs in libstageplugin/p_ranger.cc that prevented the plugin from building
13 * updated some docs
14
15 Richard Vaughan (rtv) vaughan@sfu.ca - 2012.1.11
16
17
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18 Version 4.1.0
19 -------------
20 * many bugfixes
21 * support for basic dynamics: position models simulate acceleration
22 and have a new acceleration control mode.
23 * visualization options can be loaded from and saved to worldfiles
24 * API change: new World::Run() methed provides the same interface to
25 GUI and non-GUI worlds (by chmp@github)
26 * saved screenshots are numbered with leading zeros for convenience
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27 when using movie-making tools (by mani-monaj@github)
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28 * major performance enhancement: position updates now run in parallel
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29 with sensor updates, using a double-buffer-style alternating pair of
30 occupancy grids
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31 * several minor performance enhancements
32 * much faster debug visualization (occupancy grid and voxel views)
33 * build scripts are more portable
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34
35
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36 Richard Vaughan (rtv) vaughan@sfu.ca - 2011.12.28
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37
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38 Version 4.0.1
39 -------------
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40
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41 - Bugfixes
42 - more sparing use of memory to support very large worlds (square kms!)
43
44 Richard Vaughan (rtv) vaughan@sfu.ca - 2010.12.2
45
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46 Version 4.0.0
47 -------------
48
49 Major new release since worldfile syntax and API have both changed due
50 to a new unified ranger model. Laser model is now deprecated in favour
51 of the ranger. This follows a similar change in Player 3, where laser
52 interface support was deprecated but still in place due to lack of
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53 Stage support. This release fixes that.
54
55 Also includes many bugfixes, a much improved build system and some
56 performance enhancements and documentation improvements.
57
58 Richard Vaughan (rtv) vaughan@sfu.ca - 2010.11.25
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59
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60 Version 3.2.2
61 -------------
62
63 Bugfix, performance and cleanup release. This is the fastest Stage
64 ever for most use cases.
65
66 Externally visible changes
67
68 - removed property database from models. This will break user code
69 that depends on it. The rationale for removing it is that it is not
70 useful to libstage users, and only to libstageplugin users who used
71 it for Player-based IPC. It should be provided by a Player
72 driver. Removing this little-used code is a useful clean up.
73
74 Richard Vaughan (rtv) vaughan@sfu.ca - 2009.10.28
75
76
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77 Version 3.2.1
78 -------------
79
80 Bugfix release, contains mainly bugfixes but some performance tweaks.
81
82 Richard Vaughan (rtv) vaughan@sfu.ca - 2009.10.13
83
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84 Version 3.2.0
85 -------------
86
87 This minor release fixes many bugs, has some performance improvements
88 and some significant internal and API changes, including:
89
90 * introduced an internal event queue, so that there is no longer any
91 atomic world update interval. Each model can have its update
92 interval specified individually
93 * worldfile syntax checking improved: poses and sizes are checked for
94 correct vector length
95 * pkg-config file for libstage now contains correct dependencies,
96 making it much easier to build things using libstage
97 * controllers can now take an argument string from the worldfile and
98 command line
99 * better powerpack model
100 * cleaned up namespace quite a bit - controllers and simulators using
101 libstage may need some simple tweaks, but the design is cleaner and
102 more consistent.
103
104 Richard Vaughan (rtv) vaughan@sfu.ca - 2009.9.12
105
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106 Version 3.1.0
107 -------------
108
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109 This minor release includes some major improvements, including:
110
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111 * Added or reinstated models
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112 * grippers
113 * linear actuator
114 * Powerpacks models power consumption, charging and transferring
115 * Models can provide occuapancy grids with Stg::Model::Rasterize()
116 * WebStage is Stage with WebSim support
117 * Many bugfixes
118 * Many performance improvements, including faster raytracing
119 * Better support for very large worlds
120 * More example controllers in <stage>/examples/ctrl
121 * Faster raytracing
122 * Replaced GLib-2.0 with STL, pthreads, etc.
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123 * Better docs (but still lots to do here)
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124
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125 Richard Vaughan (rtv) vaughan@sfu.ca - 2009.7.22
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126
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127 Version 3.0.1
128 -------------
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129 This version incorporates a number of fixes made since the previous
130 major release:
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131
e076349 stage: 3.0.1 release notes
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132 * Player plugin
133 * added unit test suite to verify functionality (build instructions
134 in libstageplugin/test directory)
135 * many bug fixes
136 * blobfinder, fiducial, laser, position2d, simulation, sonar, and
137 speech interfaces are now working correctly
138 * CMake script fixes
139 * OpenGL headers located properly
140 * FLTK sourced correctly
141 * dependency failures should show up before compiling
142 * fixed bug where fiducial sensor would return duplicate results
143 * fixed some rendering glitches
144 * blobfinder now returns blobs in the correct horizontal order
145 * blobfinder sensor visualization displays in the plane of the screen
146
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147 Version 3.0.0
148 -------------
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149 Stage 3.0.0 consists of these components:
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150
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151 * libstage - a robot simulation C++ library.
152 * libstageplugin - a simulation plugin for Player
153 * stage - a stand-alone robot simulator
154
155 This is a a major new release of Stage. The main new features are:
156
157 * 2.5D models
158 * 3D user interface
159 * very much faster raytracing than 2.X series
160 * plugin code modules attach at run time to any model. Useful for data
161 filtering or complete robot controllers without Player (examples
162 included)
163 * 3D camera model, with color and depth for each pixel
164 * first "official" release of the libstage API
165 * save/save-as/reload file dialog box
166 * improved data visualization options
167 * select and drag/rotate multuple robots by shift-clicking
168
169 libstageplugin still needs some work - currently it only supports
170 position2d, laser and sonar interfaces It also uses too much
171 CPU. Player/Stage users may choose to wait for libstageplugin to
172 improve before trying Stage-3.0.
173
174 Note that your Stage-2.0 world files will probably need to be updated
175 to work with Stage-3.0. The main difference world file syntax is that
176 poses and velocities are now specied as [x y z theta] instead of the
177 old [x y theta]. Sizes are now specifed as [x y z] instead of [x y].
178
179 Some useful parts of Stage 2.x have not yet been ported to 3.0,
180 including
181
182 * gripper & puck
183 * wireless comms
184 * audio comms
185 * blinkenights
186
187 This is the first release of a lot of new code. It has been used in my
188 lab for a while now, but there are bound to be bugs and quirks. Please
189 use the bug tracker and feature request system on Sourceforge to help
190 us fix and improve Stage. As always, your patches are very welcome.
191
192 Richard Vaughan (rtv) vaughan@sfu.ca - 2008.7.12
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193
194 Version 2.0.1
195 -------------
196 This is mainly a bugfix and performance-enhancement release. This
197 release requires Player-2.0.1, released simultaneously.
198
199 The only major new feature is the addition of support for Player's
200 speech interface: speech bubbles show the text being "spoken" by each
201 robot. The text is rendered using Pango, so non-Roman alphabets are
202 supported.
203
204 Richard Vaughan (rtv) vaughan@sfu.ca 2006.3.24
205
206
207 Version 2.0.0
208 -------------
209 This is a major new release of Stage, and is intended to replace all
210 previous versions. It requires Player-2.0.0 or later.
211
212 Please report bugs to the tracker and let us know what you do with Stage.
213
214 Richard Vaughan (rtv) vaughan@sfu.ca 2006.2.26
215
216 ### New Features
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217
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218 Significant user-level changes include:
219
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220 - Stage is now implemented as the C library
221 libstage. Using libstage, your programs can include a
222 sophisticated robot simulator with a few lines of code. The
223 Player plugin libstageplugin is a wrapper for libstage
224 that provides simulation services to Player. Player with
225 libstageplugin is the Player/Stage system.
226
227 - Player clients can draw directly in the Stage window using the
228 graphics2d interface. libstage programs can use the internal
229 user graphics API.
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230
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231 - Configurable odometry error in position model
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232
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233 - Gripper model that can pick up anything. Any object can be made
234 grippable/pushable by setting the the gripper_return property.
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235
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236 - Pan-tilt-zoom (PTZ) model.
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237
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238 - More and improved visualizations, including models leaving trails
239 over time
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240
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241 - Any object can now have its shape specified by a bitmap file (JPG,
242 PNG, etc.).
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243
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244 - Worldfile syntax has changed slightly, so you may need to edit your
245 existing worlds to get them to work. Look at the example worlds in
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246 (stage src)/worlds to get the idea.
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247
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248 - Worlds can be very large (thousands of meters square).
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249
250
251 Version 1.6.1
252 -------------
253 This is a bug-fix release that replaces 1.6.0.
254
255 - Fixes several GUI bugs, including the [View/Fill Polygons] menu item.
256
257 - Some code clean-up and thread-safety fixes
258
259
260 Version 1.6.0
261 -------------
262 This release of Stage is the first after a major rewrite. There are
263 bound to be bugs and teething troubles, but the Autonomy Lab
264 (http://www.cs.sfu.ca/research/groups/autonomy) has been using this
265 code for serious work for a few months now and we think it's useful
266 and usable.
267
268 ### Significant changes visible to the user
269
270 1. Stage is now a Player plugin, instead of an executable. The key
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271 benefit of this is that all Player drivers are now available for
272 use directly with Stage, including sophisticated drivers like
273 AMCL, without needing passthrough drivers.
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274
275 2. Stage depends on Player 1.6 or newer.
276
277 3. Worldfile syntax has a changed, so you need to edit your existing
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278 worlds to get them to work. Look at the example worlds in <stage
279 src>/worlds to get the idea.
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280
281 4. Any object can now have its shape specified by a bitmap file
282
283 5. Several bitmap file formats are supported, using a third-party
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284 library. Load maps and robot bodies from JPG, PNG, etc. No more PNM
285 troubles.
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286
287 6. Worlds can now be very large (thousands of meters square).
288
289 7. Several models are missing from this release - notably the gripper
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290 and puck. These will be available soon. Meanwhile, enjoy the full
291 power of Player with the basic laser, sonar, position, fiducial and
292 blobfinder models.
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293
294 8. Stage no longer depends on libRTK.
295
296 9. Some models from previous versions may not yet be available in
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297 this release (e.g. gripper & puck), but we're working on them. Let us
298 know which ones you need.
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299
300
301 ### Significant changes under the hood
302
303 1. The Stage simulation engine is now a library rather than an
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304 application. The library can be used to write custom robot
305 simulations. This is very useful if you need to do synchronous control
306 of robots (e.g for perfectly repeatable experiments), or dynamically
307 create and destroy robots or other objects. You can't (yet) do this
308 though Player. Refer to the libstage reference manual
309 (http://playerstage.sf.net/doc/stage_reference) for the API and
310 developer docs.
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311
312 2. Stage is now mostly written in C. A simple object-oriented system
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313 allows one level of inheritance for writing polymorphic model code.
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314
315 3. The underlying occupancy grid model has changed from a simple
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316 fixed-size array to a sparse array of (almost) unlimited size
317 (implemented with a hash table). To compensate for the performance hit
318 of raytracing in the hash table, a three-level multiple-resolution
319 approach is used. Raytracing is now usually _much_ faster than in
320 Stage-1.3. To get an idea how this works, select the
321 View/Debug/Raytrace menu item while a laser or ranger is producing
322 data.
323
324 4. Most home-rolled data structures have been replaced by glib versions.
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