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Changelog for package hrpsys

315.2.7 (2014-10-15)

  • New feature
  • (AutoBalancer, ImpedanceController) : Enable onDeactivated function for ImpedanceController and AutoBalancer
  • Added getControllerParams method and modified type of Param (struct -> class)
  • Added type check before use conf params
  • Fixation
  • fix for old pcl
  • Improvement
  • (ImpedanceController, AutoBalancer, Stabilizer) : Move to idling mode if stop() and start() are called. This is discussed in fkanehiro/hrpsys-base#215
  • print exception when plugin is not found
  • add document to change timestep
  • (AutoBalancer) : Add time stamp to abc walking data ports and initialize contactStates
  • (GaitGenerator, Ratsmatrix) : Remove unused print functions and update print functions to use Eigen IOFormat
  • (AutoBalancer, ImpedanceController, RemoveForceSensorLinkOffset, Stabilizer) : Update unstable RTCs documentation
  • (hrpsys_config, DataLogger) : Enable to log contactStates as TimedBooleanSeq
  • set compile flag -ffloat-store to 32bit system add message for setting collision_loop
  • removes input dataport "sensorPose" and uses pose in RangeData
  • Connect q and qRef to ThermoEstimator to estimate joint torque from error
  • modify OpenHRP-3.1 path due to ROS-fhs layout, see #128
  • Contributors: Kei Okada, Shunichi Nozawa, Isaac Saito

315.2.6 (2014-09-30)

  • New Feature
  • Adds PointCloudLogViewer, encords the number of points in point cloud. compiles PointCloudLogViewer only with PCL >= 1.7.
  • (Stabilizer) : Add leg inside margin to IDL
  • (KalmanFilter) : Add KalmanFilterParam as struct
  • Better error handling
  • Fix
  • fixes linker error on 12.04amd
  • Partially reverted to handle Python version < 2.6
  • hrpsys_config
  • Add DataLogger logging for servoState port.
  • Add playPattern* methods.
  • (hrpsys_config.py, SequencePlayer, StateHolder) : Add optional data for seq in fkanehiro/hrpsys-base#190
  • Add and connect logger ports for offset force moment and ref force moment
  • I/F improvement
  • Added old style parameter functions to TwoDofController for Stabilizer
  • Modified controller arguments from double valiables to struct parameter.
  • Document update
  • Apply doxygen style, somehow needs exclamation mark (http://stackoverflow.com/questions/7690220/how-to-document-python-function-parameter-types)
  • Doc improved for many components: AverageFilter, ExtractCameraImage, SequencePlayer, HGcontroller, CaptureController, VideoCapture, PCDLoader, SORFilter, RangeNoiseMixer, CaptureController, JpegEncoder, RGB2Gray, PlaneRemover, AverageFilter. AutoBalancer, Stabilizer, KalmanFilter, RemoveForceSensorLinkOffset, ImpedanceController
  • Contributors: Kei Okada, Shunichi Nozawa, Isaac IY Saito

315.2.5 (2014-09-02)

  • Stabilizer:
  • Use force difference control
  • Add data port for Stabilizer root pos and rot debugging
  • (Stabilizer, hrpsys_config.py) Add debug port for Stabilizer compensation
  • Add both foot contact checker and update force z control
  • AutoBalancer:
  • Add data port for swing and support period remain times and connect it between abc and st
  • Fix end effector name, e.g., :rarm => rarm. This change is based on JointGroup name discussed in fkanehiro/hrpsys-base#232
  • KalmanFilter:
  • Inhibit debug print in KalmanFilter.h
  • Add DEBUG to control printing of KalmanFilter
  • KF -> EKF and RPY -> Quaternion
  • sample6dofrobot*:
  • Add wrapper for sample6dofrobot examples added in fkanehiro/hrpsys-base#281
  • Add set ref force and moment example for impedance controller
  • (terrain-walk) : Add wrapper of example in hrpsys-base samplerobot_terrain_walk.py
  • add graphbiz to install
  • add automatic push to gh-pages
  • hrpsys_config.py:
  • Enable to use RMFO on robots without imu. Connect RPY port only if it exists.
  • move api doc for some methods from downstream.
  • enable to set reference frame in get{Reference,Current}{Pose,Position,Rotation,RPY}, see #297
  • use CPython as default python and add hrpsys_config.py
  • adds a new component, AverageFilter
  • Contributors: Kei Okada, Shunichi Nozawa, Isaac IY Saito, Yutaka Kondo

315.2.4 (2014-08-10)

  • AutoBalancer:
  • Add data port for acceleration reference which can be used in KalmanFilter.cpp
  • Use function and variable names. Use TargetParameter and CurrentParmeter
  • Remove duplicate codes for transition_smooth_gain
  • Remove unused codes and use is_legged_robot flag
  • hrpsys_config.py:
  • Connect accRef from abc instead of seq. Note that connection from seq at previous r
  • Use contactStates in Stabilizer to specify single support ph
  • Add out data ports for Stabilizer debug
  • (KalmanFilter.cpp) : Use accRef compensation
  • (PDcontroller,...) : Add PD controller and examples
  • samplerobot:
  • Add print message and comments to samples, remove direct writing of getRTCList, and
  • Use .in file to specify openhrp3 directory for sample1.wrl model
  • Add conf_file setting to samplerobot.launch by copying hrpsys_tools/hrpsys/hrpsys.launch setting
  • Add impedancecontroller example
  • Stabilizer:
  • Fix transition between MODE_AIR, MODE_IDLE, and MODE_ST. Set MODE_AIR if startStabilizer
  • Fix USE_IMU_STATEFEEDBACK to USE_EEFM_STABILIZER for switching stabilizer algorithm and f
  • Add LPF for ground contact checking
  • Fix transition between st ON mode and st OFF mode
  • Rotate robot around COG in rpy control
  • Support rotational walking by fixing ref force and ref moment coordinates
  • Update calculation of actual and reference values for Stabilizer
  • Check legged robot or not
  • Add getActualParameters and update to use it
  • Update member variables (rename and remove)
  • Fix idl to specify zmp delay time constant and auxiliary zmp inp
  • (Sample6dofRobot) : Add sample6dofrobot VRML which has 3 slide joints and 3 rotate joints. Add example f
  • rtc/DataLogger/DataLogger.cpp rtc/DataLogger/DataLogger.h: remove needless variable tm from member metho
  • (catkin.cmake, CMakeLists, samples/samplerobot*) : Move samplerobot examples to hrpsys-base fkanehiro/hrpsys-base#252
  • Contributors: Shunichi Nozawa, Kunio Kojima, Isaac IY Saito

315.2.3 (2014-07-28)

  • Adjusted to OpenRTM 1.1.1
  • use OCTOMAP_LIBRARY_DIRS instead of OCTOMAP_DIR, Fix #258
  • Use boost library for copysign because copysign in cmath only can be used in C++11 later
  • samplerobot:
    • Add example for impedancecontroller rtc.
    • Add examples for samplerobot by copying from start-jsk/hrpsys/samples discussed in fkanehiro/hrpsys-base#240.
    • Add setFootSteps examples.
    • Add samples for DataLogger and Stabilizer.
    • Add example for impedancecontroller rtc
  • (JointPathEx.*, AutoBalancer, Stabilizer, ImpedanceController) : Remove solveLimbIK and use calcInverseKinematics2Loop
  • (samplerobot_auto_balancer.py, AutoBalancer.cpp) Fix overwriting of target foot coords, add example to check non-default stride stopping, and check RECTANGLE swing orbit
  • JointPathEx.*:
    • Move nullspace codes to reduce difference between calcInverseKinematics2Loop and solveLimbIK.
    • Remove unnecessary transition_count and resetting of nullspace vector.
    • Move nullspace codes to reduce difference between calcInverseKinematics2Loop and solveLimbIK.
  • hrpsys_config.py:
    • Add readDigitalOutput.
    • Add connection for st qCurrent.
    • Add comment upon setTargetPose IK failure.
    • Add logger connection for walking RTCs.
    • Use Group to find eef name. PEP8 improvement.
  • Stabilizer.*:
    • Add new stabilizer control law (currently not enabled).
    • Use :end_effector instead of link origin in IK and fix mode transition.
    • Add getParameter function for stabilizer parameter
  • create_changelog.sh: Add script for changelog from subdirectory information (discussed in jsk-ros-pkg/jsk_roseus#134)
  • GaitGenerator.*:
    • Fix bug of swing foot calculation and add reset orbit
    • Support rectangle foot swing orbit
  • (AutoBalancerService.idl, AutoBalancer.*, GaitGenerator.*, testGaitGenerator) : Enable to configure swing orbit type
  • (TorqueController) Added TwoDofControllerDynamicsModel option to initialize process. Use dynamic model based on equation of motion.
  • Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
  • Modified m_loop type int -> long long
  • Contributors: Kei Okada, Shunichi Nozawa

315.2.2 (2014-06-17)

  • (catkin.cmake) add code to check if hrpsys is installed correctly
  • manifest.xml/package.xml: depends on cv_bridge instad of opencv (ros/rosdistro#4763)
  • add patch to use opencv2.pc for last resort
  • (catkin.cmake) install src directory for custom iob
  • fix for hrp4c.launch
  • update to hrpsys version 315.2.2
  • (catkin.cmake) install src directory for custom iob, see start-jsk/rtmros_gazebo#35 for discussion
  • (hrp4c_model_download.sh) set rw permissions to all users for hrp4c model
  • (catkin.cmkae) use sed to fis install dir
  • sample/samplerobot-remove-force-offset.py : add sample code for RMFO rtc
  • (catkin.cmake) add disable ssl
  • update in fkanehiro/hrpsys-base repository
  • 74d07f9 (lib/util/CMakeLists.txt) forget to install Hrpsys.h (24c6139826)
  • 0303d15 (rtc/PlaneRemover) adds a configuration variable pointNumThd to specify the minimum number of points to define a plane#226 from orikuma/refactoring-thermo-limiter
  • f34f28b (python/rtm.py) adds return value of setConfiguration() and setProperty()
  • 85afa1c (rtc/ThermoLimiter) Removed TwoDofController, which is not used in ThermoLimiter now
  • 63f3ae7 (python/hrpsys_config.py) add getRTCList for unstable RTCs
  • 9eb3a12 (rtc/SORFilter) fixes typos(again)
  • 233a31a (rtc/PlaneRemover) adds a new component, PlaneRemover
  • 26f2f09 (rtc/SORFilter) fixes typos
  • c5a8ee5 (rtc/TorqueFilter) Modified debug message position for tf params
  • 9c13ee2 (rtc/TorqueFilter) Added timestamp to tf.rtc:tauOut and modified method to deal with input error3e Modified and supressed error messages for TorqueFilter
  • de0b63e (rtc/TorqueFilter) Modified and supressed error messages for TorqueFilter
  • 6ebcb7b (rtc/TorqueController) Supress error message by debugLevel and output qRefIn to qRefOut when torque controller does not work due to some fault of input.
  • d3a7750 (rtc/PCDLoader) removes backup files
  • eafe5f5 (rtc/PCDLoader) adds a new component, PCDLoader
  • Contributors: Kei Okada, Shunichi Nozawa

315.2.1 (2014-05-12)

  • Merge pull request #83 from k-okada/add_git add build_depend to git
  • Contributors: Kei Okada

315.2.0 (2014-05-11)

  • update in fkanehiro/hrpsys-base repository
  • 53de9aa (hrpsys_config.py) fix getRTCList only for stable RTC
  • 69b153e (KalmanFilter, Stabilizer) adds options to disable building KalmanFilter and Stabilizer
  • 1c6a1dd (hrpsys_config.py) add DataLogger clear in setupLogger to start log data with same starting time
  • ad5401f (rtm.py) use % operator instead of format ;; format cannot be used in python < 2.6
  • 7eec546 (KalmanFilter) avoid devision by zero
  • d6db569 (CMakeLists.txt) add Boost patch (remove -mt suffix)
  • 5dc9883 (ImpedanceController) add time stamp to output port, which are copied from m_q input time stamp
  • 917c8f1 (AutoBalancer) add time stamp to output ports, which are copied from m_q input time stamp
  • 9f09a3e (AutoBalancer) add baseTform to output transformation of base link
  • eaf85c2 (VideoCapture) enters ERROR state when a video devices doesn't exist
  • 8034945 (VideoCapture) opens video devices at onActivate()
  • b3e253b (SORFilter) adds a new component, SORFilter(PCL is required)
  • ec32ed0 (VideoCapture) enables to specify camera device ids by using a configuration variable, devIds
  • d651827 (AutoBalancer) fix first foot steps ;; this update is discussed in jsk-ros-pkg/jsk_control#1
  • e889719 (RemoveForceSensorLinkOffset) remove unused files commited at previous commit
  • 430aa95 rename rtc ;; AbsoluteForceSensor -> RemoveForceSensorLinkOffset
  • 72fff04 (AutoBalancerService.idl, AutoBalancer) update start and stop function for AutoBalancer mode ;; use string sequence instead of deprecated type's sequence ;; rename function
  • 811c573 (AutoBalancerService.idl) update comments for AutoBalancer idl
  • fb155c6 (hrpsys_config.py, SequencePlayer) adds an input data port, zmpRefInit to SequencePlayer(by notheworld)
  • 47677b7 (util/PortHandler.cpp) updates an error message
  • 9417846 (315.1.10:sample/HRP4C/HRP4C.py) fix HRP4C.py: use __main__ to call demo() and it also call initCORBA, see Issue 195
  • d30a9f6 (315.1.10:sample/PA10/PA10.py) log is already started in activateComps()
  • d09f1b9 (315.1.10:rtm.py) print error message when roonc is not defined in findRTCmanager and findObject, it also set hostname from set.gethostname if not defined in findRTCmanager(), see Issue #173
  • d196165 (315.1.10:sample/PA10/PA10.py) use __main__ to call demo() and it also call initCORBA, see Issue 195
  • ed59880 (AutoBalancer) set current footstep pos and rot even if not ABC mode
  • 6b84d09 (Range2PointCloud) supports unsymmetric scan angles
  • 12ff024 (lib/util/PortHandler.cpp) sets RangerConfig
  • 25df3dd (python/waitInput.py) executes waitInputMenuMain() in a thread
  • 76f5762 (rtm.py) fixes a typo
  • c0d8a92 (rtm.py) adds the second argument to load()
  • d7b2646 (ImageData2CameraImage) initialize error_code
  • b54cb47 (RangeDataViewer) adds a new component, RangeDataViewer
  • 1e6360e (315.1.10:ProjectGenerator) do not pass non-openrtm arg to Manager::init(), see Issue #193
  • de4b353 (415.1.10:ProjectGenerator) clean up debug message see Issue #193
  • 03ec80d (lib/util/VectorConvert.h) adds operator>> for hrp::dvector and hrp::Vector3
  • 77af006 (SequencePlayer/interpolator.cpp) enable user to change DEFAULT_AVG_VEL, see Issue 189 (interpolators[WRENCHES])
  • 1859064 (SequencePlayerService.idl) add setWrenches, interpolate wrench in seq, see Issue 153
  • 848bbfc (hrpsys_config.py) add function documents, many thanks to isaac
  • e203012 (hrpsys_config.py) add to call setSelfGroups in init()
  • 73f80e2 (hrpsys_config.py) move common code for real robots, see issue start-jsk/rtmros_common#289
  • 2182a35 (TorqueController) show error message every 100 loops
  • 90a8bfc (hrpsys_config.py) do not raise error when component is not found in findComp
  • 9fd098e (hrpsys_config.py) add findComps, see start-jsk/rtmros_common#340
  • ccf60e3 (hrpsys_config.py) fix wrong commit on r976/Issue #179
  • bd4e92f (CMakeLists.txt) add more message when library is not found
  • f966a06 (CMakeLists.txt) add message when library is not found
  • 3feb6b3 (SequencePlayer) adds a misc. change
  • 5741b9f (SequencePlayer) revert rpy loading according to discussion in https://code.google.com/p/hrpsys-base/source/detail?r=896 ;; load RPY from .hip file and load pos and RPY from .waist file
  • 0a1ee15 (CaptureController) add a new component CaptureController
  • 67b6b7d (hrpsys-base.pc.in) add idldir to hrpsys-base.pc.in
  • 24bd8fa (FindOpenHRP.cmake) use OPENHRP_IDL_DIR for openhrp3 idl file location
  • 87e91e5 (hrpsys_config.py) support setTargetPose(self, gname, pos, rpy, tm, frame_name=None), fixed Issue 184
  • 2936ce6 (ImpedanceController) more user friendly error message
  • a386425 (rtm.py) fixes a problem in readDataPort() and adds an option, disconnect to writeDataPort
  • 576a969 (rpy.py) More human friendly error message upon connection error, see Issue 183
  • 6539ee3 (Range2PointCloud) supports multiple lines
  • a585b54 (VideoCapture) fixes a bug in oneshot mode
  • 9d6517f (rtm.py) add more user friendly error message
  • a66c478 (CMakeLists.txt, rtc) set tag version to compoent profile version, see Issue 181
  • 1a284f7 (Range2PointCloud) adds a port for sensor pose input
  • 08a2dc1 (lib/util/PortHandler.cpp) sets angularRes in RangeData
  • bff42b8 (ExtractCameraImage) add a new component, ExtractCameraImage
  • 26dc4e4 (ImageData2CameraImage) add a component ImageData2TimedcameraImage
  • f1f90d8 (sample/visionTest.py) installs visionTest.py
  • d5c79c2 (VideoCapture) fixes a problem in oneshot mode
  • 1446d24 (hrpsys_config.py) fix confusing variable names pos->angles, see Issue 179
  • d6c56f8 (sample/visionTest.py)adds a sample script to use vision related RTCs
  • 099bd22 (JpegDecoder) supports grayscale images
  • d5e5096 (Img.idl) adds new image formats
  • 520a3d4 (VideoCapture) added a service port for CameraCaptureService to VideoCapture component
  • 2219c36 (ResizeImage) add a component ResizeImage(not tested yet)
  • 58fe438 (RGB2Gray) added a component RGB2Gray
  • 556d65c (JpegEncoder) added a component JpegEncoder
  • c39d7a3 (VideoCapture) changes data type of outport depending on the number of cameras
  • 7f9d2f5 (CameraImageViewer) corrects description
  • update to hrpsys version 315.2.0, remove patches
  • use hrpsys_config.py according to start-jsk#79 discussion ;; support latest autoablancer idl
  • import imp package and roslib
  • pass EXTRA RTC setting by string
  • fix Makefile.hrpsys-base, git checkout $(GIT_REVISION) after git reset --hard
  • use hrpsys_config.py for creating RTCs, connecting of ports, and activation
  • (package.xml) Add version semantics clarification.
  • use http://github.com/fkanehiro/hrpsys-base
  • remove installed file if openhrp3_FOUND is not found Add auto balancer samples
  • add sample code for auto balancer
  • add AutoBalancer parameter to SampleRobot.conf.in
  • add conf setting for StateHolder and AutoBalancer
  • Merge pull request #63 from k-okada/315_1_10 update to 315.1.10 - ProjectGenerator : clean up debug message (https://code.google.com/p/hrpsys-base/issues/detail?id=193) - PA10.py : call initCORBA() in __main__,log is already started in activateComps() so comment out setupLogger() (https://code.google.com/p/hrpsys-base/issues/detail?id=195) - rtm.py : add debug messages if function called without initCORBA ()https://code.google.com/p/hrpsys-base/issues/detail?id=173
  • qhull.patch only requres for arch package
  • samples/{pa10,hrp4c,samplerobot}.launch: add sample programs
  • test-pkg-config.py: add test code to check if file exists, test-joint-angle.py: add more test on setJointAngle
  • move to 315.1.10
  • Update README.md
  • (test-hostname.py) add more debug message when test failed
  • start_omninames.sh: fix typo
  • add rosbash : temporarily until openrtm_aist_core provides rosbash
  • test-*.py: use imp.find_module to check if we need to use roslib.load_manifest()
  • (test-hostname.py): add more debug message when test failed
  • add start_omninames.sh start omniNames for test code
  • add Isaac to maintainer
  • add python-tk to run_depend
  • (CMakeLists.txt) fix conf file path for deb/rosbuild environment
  • fix rosbuild compile option for working both deb/source
  • add PKG_CONFIG_PATH for rosbuild environment
  • (.travis.yml) add rosbuild/deb test
  • Contributors: Isaac IY Saito, Kei Okada, Ryohei Ueda, Shunichi Nozawa

315.1.9 (2014-03-15)

  • "315.1.9"
  • prepare for release 315.1.9
  • Merge pull request #53 from k-okada/failed_to_compile_using_rosbuild_52 - add test codes - merge #39 - fix PKG_CONFIG_PATH before rostest - use load_manifest for rosbuild
  • use load_manifest for rosbuild
  • set PKG_CONFIG_PATH before rosmake test to find openhrp3.1.pc and hrpsys-base.pc
  • use := instead of ?= because ?= does not work if PKG_CONFIG_PATH exists and openrtm.pc or openhrp3.pc are not included in PKG_CONFIG_PATH ;; I does not work groovy+rosbuild environment
  • add test codes
  • add rosbuild/roslang to depend
  • rename manifest.xml for rosdep, see jsk-ros-pkg/jsk_common#301
  • add retry for test, see https://code.google.com/p/hrpsys-base/issues/detail?id=192 for the problem
  • add groovy/catkin/deb
  • fix openhrp3 path for deb environment
  • (manifeset.xml) add restest to rosdep
  • check rosdep until it succeeded
  • fix print LastTest.log
  • Add python patch for Arch
  • Add Boost patch (remove -mt suffix).
  • Fix qhull paths.
  • (manifeset.xml) add restest to rosdep
  • check rosdep until it succeeded
  • check rosbuild/catkin deb/source with travis
  • clean up test code for hrpsys (use findComps(), add DataLogger, test hrpsys_config.py, cleanup test name)
  • start using 315.1.9, do not release until 315.1.9 is finally fixed
  • added -l option as well as -j
  • compile hrpsys in parallel, but it's up to 12 parallel jobs
  • (hrpsys_config.py) wait (at most 10sec) if findComp found target component, check if RobotHardware is active, see Issue #191
  • (hrpsys_config.py) add max_timeout_count to findComps, if findComp could not find RTC (for 10 seconds), successor RTC only check for 1 time
  • Contributors: Benjamin Chrétien, Kei Okada, Ryohei Ueda, Shunichi Nozawa

315.1.8 (2014-03-06)

  • Do not pollute src directory, start-jsk#3
  • Utilize .travis.yml
  • Initial commit of CHANGELOG.rst
  • Contributors: Kei Okada, Atsushi Tsuda, Isaac Isao Saito, chen.jsk, Ryohei Ueda, Iori Kumagai, Manabu Saito, Takuya Nakaoka, Shunichi Nozawa, Yohei Kakiuchi