gazebo-yarp-plugins
Gazebo Plugins exposing YARP interfaces.
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Changelog

This file documents notable changes to this project done before February 2024. For changes after that date, plase refers to the release notes of each release at https://github.com/robotology/gazebo-yarp-plugins/releases .

[4.10.0] - 2024-02-29

Added

Removed

  • The support for passing the icub_hand_mk5 parameter in the COUPLING the gazebo_yarp_controlboard plugin was removed. This breaks compatibility with models contained in ergocub-software <= 0.6.0, to use those models use a newer version of ergocub-software.

[4.9.0] - 2023-10-31

Changed

[4.8.0] - 2023-07-31

Added

Fixed

[4.7.0] - 2023-06-05

Changed

  • The gazebo_imu plugin used to output orientation measurements as if the sensor was zero-aligned with the world frame, regardless of the initial orientation of the part the sensor is attached to. To match most real-world IMUs, the default behavior was changed to allow measuring orientation with regard to the world frame at all times. The old behavior can be restored by setting the useInitialSensorOrientationAsReference config option (https://github.com/robotology/gazebo-yarp-plugins/pull/639).
  • The gazebo_yarp_controlboard plugin is compiled using C++ 20 compiler features (https://github.com/robotology/gazebo-yarp-plugins/pull/650).
  • The BaseCouplingHandler::decoupleVelRef() methods within gazebo_yarp_controlboard provides an input argument containing the full joints position feedback, to be used to implement velocity decoupling laws that depend on the joints position.

Fixed

[4.6.0] - 2023-01-13

Added

[4.5.2] - 2022-11-17

Fixed

[4.5.1] - 2022-08-31

Fixed

[4.5.0] - 2022-08-23

Added

Fixed

[4.4.0] - 2022-05-31

Fixed

  • Removed implicit conversions from the depth data quantization in GazeboYarpDepthCameraDriver::getDepthImage which in at least one occasion caused an unexpected crash of the rgbdSensor_nws_yarp. Also, the calculation of the scalar coefficient (involving math::pow), used to cut the decimal figures from the depth data, has been moved outside the for loop that cycles through the whole image (https://github.com/robotology/gazebo-yarp-plugins/pull/623).
  • In gazebo_yarp_controlboard update the parameters in icub_left_hand_mk4 regarding pinkie and thumb which are used to generate the look-up table to approximate the coupling laws. (https://github.com/robotology/gazebo-yarp-plugins/pull/624)

[4.3.0] - 2022-04-04

Added

Changed

Fixed

[4.2.0] - 2022-02-28

Added

  • Added disableImplicitNetworkWrapper option to gazebo_yarp_forcetorque, gazebo_yarp_depthcamera, gazebo_yarp_lasersensor, gazebo_yarp_imu and gazebo_yarp_controlboard plugins. If present, this option disable any network wrapper server that the plugin created, by just creating the device itself. This option is meant to be used in conjuction with the gazebo_yarp_robotinterface plugin, that can be used to launch and attach any networ wrapper server. This option is equivalent to the behavior that can be obtained by setting the CMake option GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS to OFF (https://github.com/robotology/gazebo-yarp-plugins/pull/586).
  • The possibility to limit the decimal places of the pixels values has been added to the gazebo_yarp_depthcamera plugin, via the QUANT_PARAM::depth_quant parameter. The data modification is performed in the GazeboYarpDepthCameraDriver::getDepthImage function (https://github.com/robotology/gazebo-yarp-plugins/pull/608).

Fixed

[4.1.2] - 2022-01-19

Fixed

[4.1.1] - 2022-01-13

Fixed

[4.1.0] - 2021-12-23

Changed

Fixed

[4.0.0] - 2021-09-03

Added

Changed

  • gazebo_yarp_multicamera, gazebo_yarp_lasersensor, gazebo_yarp_doublelaser, gazebo_yarp_controlboard and gazebo_yarp_depthCamera plugins now log messages using the "Log Components" YARP logging feature.
  • A cmake option (GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS) has been added, if this option is enabled then implicit wrappers present ingazebo_yarp_multicamera, gazebo_yarp_lasersensor, gazebo_yarp_controlboard and gazebo_yarp_depthCamera are removed, the new way to have them is to attach the new nws to gazebo devices via yarprobotinterface.
  • gazebo-yarp-plugins now requires YARP 3.5 (https://github.com/robotology/gazebo-yarp-plugins/pull/562).
  • In the gazebo_yarp_controlboard plugin configuration, if the [VELOCITY_CONTROL] group is present the velocityControlImplementationType parameter is now compulsory, and model loading will fail if it is not set.

Fixed

Removed

[3.6.2] - 2021-08-27

Deprecated

  • The gazebo_yarp_jointsensors and the gazebo_yarp_doublelaser have been deprecated and will be removed in the next major version of gazebo-yarp-plugins.

[3.6.1] - 2021-05-19

Fixed

[3.6.0] - 2021-02-24

Added

  • Add refSpeed and refAcceleration options to the TRAJECTORY_GENERATION group of the gazebo_yarp_controlboard plugin configuration. They are expected to hold exactly n_joints values (an error is reported otherwise) describing reference speeds and accelerations, respectively, for use by the selected trajectory generator (if necessary).
  • Add trapezoidal_speed as a new supported value for option trajectory_type of the gazebo_yarp_controlboard plugin configuration. This generator enables the trajectory to follow a trapezoidal speed profile in position control mode, limited by provided reference speed (saturation) and acceleration (both ramps) values. If already executing a trajectory in this manner, newly generated trajectories take into account previous joint velocities and update the motion accordingly.
  • Add gazebo_yarp_robotinterface plugin, the documentation for it can be found at plugins/robotinterface/README.md (https://github.com/robotology/gazebo-yarp-plugins/pull/532).
  • The gazebo_yarp_depthcamera and gazebo_yarp_doublesensor now accept a yarpDeviceName parameter (https://github.com/robotology/gazebo-yarp-plugins/pull/532).

Changed

Fixed

  • Fix the support for running Gazebo itself with the gazebo_yarp_clock with YARP_CLOCK set, without Gazebo freezing at startup. In particular, setting YARP_CLOCK is suggested to ensure that all the threads of YARP Network Wrapper Servers are executed with the frequency correctly synchronized with the Gazebo simulation (https://github.com/robotology/gazebo-yarp-plugins/pull/537).

[3.5.1] - 2020-10-05

Added

  • Add velocityControlImplementationType option to the VELOCITY_CONTROL group of the gazebo_yarp_controlboard plugin configuration. This option permits to switch between direct_velocity_pid, that is using a velocity PID for the Velocity Control Mode (what has been implemented until now) and integrator_and_position_pid that uses an integrator that integrates the velocity reference and then uses the position low level PID, similarly to what is implement on real YARP-powered robot such as iCub or R1. The setting is now optional and if not present will default to direct_velocity_pid, but it will be compulsory in gazebo-yarp-plugins 4.x (https://github.com/robotology/gazebo-yarp-plugins/pull/514).

Fixed

[3.5.0] - 2020-08-26

Added

Fixed

[3.4.2] - 2020-08-25

Fixed

[3.4.1] - 2020-08-24

Fixed

[3.4.0] - 2020-05-19

Added

Fixed

[3.3.2] - 2020-05-08

[3.3.1] - 2020-03-05

Fixed

[3.3.0] - 2019-12-13

Added

Fixed

Removed

  • Support for YARP <= 3.2 was removed. This release requires the use of YARP 3.3 .

[3.2.0] - 2019-07-01

Added

Fixed