Changelog ========== ROS Noetic ----------- Version 1.0.14 (current noetic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * No changes (release testing image) Version 1.0.13 ^^^^^^^^^^^^^^^ * Adding more time to sleep to reload params * Added getter for hand trajectories * Do not require ur_description unless it is needed * Changed default version values when launching hand in simulation * Fixing teachmode for different hand types * Fixing access modifiers Version 1.0.12 ^^^^^^^^^^^^^^^ * Add aws manager test * Update shadowhands_prefix.srdf.xacro * Adding "first finger point" to named hand states * Update arm and hand examples Version 1.0.11 ^^^^^^^^^^^^^^^ * Update demo Version 1.0.10 ^^^^^^^^^^^^^^^ * Fix calibration loader * Fixing demo for left hand * Fixed linter errors * Adding bimanual support to data visualizer Version 1.0.9 ^^^^^^^^^^^^^^^ * No changes (release testing image) Version 1.0.8 ^^^^^^^^^^^^^^^ * No changes (release testing image) Version 1.0.7 ^^^^^^^^^^^^^^^ * Updated AWS Manager to allow for subfolders * Fix error with decoding git commands in ws_diff * removed unused imports from sr_ur_arm_calibration_loader.py * Removing sr_config repo * Fixing shebang and file saving in Hand Health Report * fix building error: This package requires sr_visualization_icons to build, and this patch fixes it * Solve bug Unfiltered position and force traces not shown * Update warnings in RQT * Adding serial number to FingertipVisualizer plugin Version 1.0.6 ^^^^^^^^^^^^^^^ * Removed roswrapper from launch files using Autodetect * Fix missing use namespace EigenCompiling packages for the `ros-o` initiative * Fixed mistake in file change_controllers.py * Delete sr_teleop_polhemus_documentation_server.py * Removed ros files for sr_teleop_polhemus_documentation Version 1.0.5 ^^^^^^^^^^^^^^^ * Changing default vaules of fingertip sensors srhand.launch Version 1.0.4 ^^^^^^^^^^^^^^^ * Xacros refactored * Remove obsolete scoped_ptr * Swiching to new xacros * Fixing bugs in launchfiles * Adding return to plan executions * Removing box from arm without hand and bimanual system without hands * Deleted sr_box_ur10_moveit_config folder * Refactor robot commander test * Removing sr_hand_dep * Removing deprecated field from general_info * Fix phantom hand * Removed old launch file with box and replaced with the new one from sr_interface * Support ImageMagick 6 and 7 * Hand side fix error Version 1.0.3 ^^^^^^^^^^^^^^^ * Migrating to dae and adding materials * Fixing the color of wrist mesh * Switching to new xacros * Update arm related arguments in sr_robot_launch * Adding a way of exiting the demo * Edit tactile threshold * Showing allowed options for general info template * Re-write data visualizer Version 1.0.0 (previous noetic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Integrate UR driver from upstream * Refactoring sr_description: adapted test and added more parameters validation * Create trajectory command publisher utility class * Migrate controls and calibrations * Fixing wrist controller spawning and updating/cleaning up controller spawner script and docs. * Add voice feedback to voice controller * Listen to topics to detect speaker/microphone changes * Replace PyDub library with a direct call to ffmpeg * Adding republish tf new place * Integrate UR driver from upstream * Updating tf republisher * Adding collision scene for filling line * Add hybrid controller argument to more launch files * Removing external control option for sim * Removing sr_config references * Fix robot_commander test in AWS * Make wrist trajectory controller it's own entity * Integrate ur driver from upstream * Fixing scene spawning * Xacro package changed, now needs a function call to setup file stack for error reporting * Fixing controllers for hand lite * Fixing movegroup controller problem * Fix planning errors * Fixing wrist controller spawningFixing wrist controller spawning. * Fix __kinematics * Loading analyzers from new place * Migrate controls * Migrate calibrations * Loading rates from a new place * Deprecating sr config * Migrate controls * Migrate analyzers * Migrate calibrations * Migrate rates * Fixed the calibration for both lph and rph. * Integrating auto-detection * Fixing errors when changing controllers and resetting joint sliders Version 0.0.18 ^^^^^^^^^^^^^^^ * Update rviz_motor.launch * Fixed Relative path * Add hybrid controller configuration files * Load hybrid controller configuration * Remove redundant aws manager * Removing hand detector * Move sr_world_generator from common_resources to sr_tools * Add world & scene for XPrize competition * Fixed aws_manager * Enhancing cond delay tool * Prepare the piezo driver to work with multiple dev-kits * simple executable ros wrapper * fixing the tests * Integrated autodetection * Add hybrid controller argument to more launch files * Removing robot description * Adding configs for clients in noetic * Move sr_world_generator from common_resources to sr_tools * Added missing resource and uis install for sr_data_visualization * Removing muscle rqt plugins * Added missing resource and uis install for sr_data_visualization * Removing grasp controller from plugins Version 0.0.17 (previous noetic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Update tactile_receiver.py * Move conditional delayed rostool to src and add launch prefix for launching nodes * Load hand trajectory controller for hand in sim use case * Adding trajectory controllers for bimanual * B revert wrist in arm controller move group fix Version 0.0.16 ^^^^^^^^^^^^^^^ * Robot commander fix Version 0.0.15 ^^^^^^^^^^^^^^^ * Adding new xacro for a hand extra lite with only two fingers mf and th * Limiting sim speeds to 1.0, now that CPUs are fast enough. * Fixed linter error in hpp file * Dixed linter errors in hpp files Version 0.0.12 ^^^^^^^^^^^^^^^ * Update simple_transmission.hpp * Revert "SRC-4962 Move controller switching to CPP (#647)" Version 0.0.11 ^^^^^^^^^^^^^^^ * Fixing SrRobotCommander Version 0.0.10 ^^^^^^^^^^^^^^^ * Adding hybrid file * F#src 6473 handle 0 in git revision * SRC-6470 Release noetic dexterous hand image * SRC-4962 Add changes from teach_mode_node * SRC-6063 Don't busy wait for params * Changing to correct launchfile * Adding prefix to ur10e yamls * F#src 6509 optimise arm unlock noetic * F#src 6509 optimise arm unlock * SRC-4962 Use helper class from common_resources * F#src 6477 sr ur arm unlock test noetic * SRC-4962 Move controller switching to CPP * initial commit for mock ur dashboard server * Adding arm servo noetic * SRC-6177 Fix little finger error reporting * Integrating hybrid controller * fixing noetic * SRC-6470 Release noetic dexterous hand image * Fixing bootloader path with casting to string Version 0.0.9 ^^^^^^^^^^^^^^^ * F#src 6509 optimise arm unlock noetic * F#src 6509 optimise arm unlock * Fixing bootlo* ader path with casting to string Version 0.0.8 ^^^^^^^^^^^^^^^ * F#src 6473 ha* ndle 0 in git revision * SRC-6470 Rele* ase noetic dexterous hand image * Adding prefix to ur10e yamls Version 0.0.7 ^^^^^^^^^^^^^^^ * SRC-6470 Rele* ase noetic dexterous hand image Version 0.0.6 ^^^^^^^^^^^^^^^ * Fixed deprecated .mesh * F#98 modular * xacros * SRC-6467 Intr* oduce git_revision field in GenericTactileData * Update demo_r* .py * Src 6413 create a collision model for the rack * add only stan* s * B fixing watchdog test * F fixing speech control * SRC-6470 Release noetic dexterous hand image * SRC-6301 Implement reading of MST sensors * Update package.xml Version 0.0.5 ^^^^^^^^^^^^^^^ * fix pedal bug * B pedal restart fix ROS Melodic ------------ Version 0.0.62 (current melodic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Improving saving utility for Noetic * Fixing yaml load * Adding respawn * Fixed calibration loader * Automatic calibration loader not working in URSIM * Adding missing arguments * SRC-6043 Remove unused 'rename' arguments * Adding kill node script * SRC-5239: Adding speech control * SRC-6183 Add __init__.py file * SRC-6183 Various improvements for speech control * Fixing yaml load * arms braking * fix home * removing the required flags * Fix_an_arm_and_hand_xacro * Adding x and y separations to launch and xacros * changing jiggle fraction default value * Update sr_ur_arm_unlock * fix syntax error * Automatic calibration loader not working in URSIM * Publish underactuation error * Fixing srdf generation and saving of file * Fixing yaml load * improving hand and arm rostest * Commenting trac_ik and replacing it to kdl until it is available in Noeticoetic * updating unimanual y separation * Fix pedal reset for protective stop * Add new driver for teleop pedal * Update 90-VEC-USB-Footpedal.rules Version 0.0.61 ^^^^^^^^^^^^^^^^^^^ * Fix pedal reset for protective stop Version 0.0.60 ^^^^^^^^^^^^^^^ * Improving saving utility for Noetic * Fixing yaml load * Adding missing arguments * Remove unused 'rename' arguments * Adding kill node script * Adding speech control * Add __init__.py file * Various improvements for speech control * Fixing yaml load * Publish underactuation error * Fixing srdf generation and saving of file * Fixing yaml load * improving hand and arm rostest * Commenting trac_ik and replacing it to kdl until it is available in Noeticoetic Version 0.0.58 ^^^^^^^^^^^^^^^ * Changing paramiko version to 2.7.2 * Adding respawn * Merging kinetic-devel back to melodic * Fixed calibration loader * Fixed arm and hand xacro * Automatic calibration loader not working in URSIM * Fixing orientation for left arms * Fixing xacro * Hand and arm test * Arms braking * Fix home * Removing the required flags * Updating unimanual y separation * Adding X and Y separations to launch and xacros * Changing jiggle fraction default value * Update sr_ur_arm_unlock * Fix syntax error * Fix data visualization bug * Add new driver for teleop pedal * Update 90-VEC-USB-Footpedal.rules Version 0.0.57 (previous melodic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Merging kinetic-devel back to melodic * Fixing orientation for left arms * Fixing xacro for sr_multi_description/urdf/right_srhand_lite_ur10e.urdf.xacro * Adding hand and arm tests in robot launch * Fix data visualization plugin bug Version 0.0.56 ^^^^^^^^^^^^^^^ * Add wait for robot description in sr_robot_launch/launch/sr_ur_arm_box.launch * Plotjuggler v3 Version 0.0.55 ^^^^^^^^^^^^^^^ * Update calibration GUI Version 0.0.54 ^^^^^^^^^^^^^^^ * Fetch arm ips from param server * fixing set_named_target method in robot commander Version 0.0.53 ^^^^^^^^^^^^^^^ * Fix for hand finder overwriting urdf joints with all joints * Add default to launch arg list * Delete pull_request_template.md * Adding wait to watchdog * Fixing home angle arg in sr_robot_launch files * Updating worlds and scenes to bimanual * Adding the planning group two_hands * Updating state saver for more options Version 0.0.52 ^^^^^^^^^^^^^^^ * Delete pull_request_template.md * Fix for hand finder overwriting urdf joints with all joints * Add default to launch arg list in conditional delay Version 0.0.51 ^^^^^^^^^^^^^^^ * Update sr_bimanual_ur10arms_hands.launch * Adding start state to stored states * Update planner to BiTRRT * Modify parameter to load robot description at this level only if requested Version 0.0.50 ^^^^^^^^^^^^^^^ * Demohand a with ur10e updated Version 0.0.49 ^^^^^^^^^^^^^^^ * Adding hybrid controller arbitrary frame * Removing exclude wrist from controller spawner * Removing include_wrist_in_arm_controller param * Adding planning quality to examples * Adding scripts and documentation for in-docker leap motion running * Bimanual demohands a d changes * wrist mimic rostest * Fix left arm scene * add sr_robot_msg dependency Version 0.0.48 ^^^^^^^^^^^^^^^ * Created bimanual xacro for hand lites biotacs Version 0.0.47 ^^^^^^^^^^^^^^^ * Fixed hybrid controller installation and controller spawner * Tests for the scene Version 0.0.46 ^^^^^^^^^^^^^^^ * Added hybrid controller * Added a xacro for shadow hand left lite with biotacs * Fixed install of ros_heartbeat * Updated aurora instructions to specify ethercat_right_hand rather than ethercat_interface * Fixed conditional roslaunch (added extra conditions) * Adding and updating hand ROS tests * New scene and world for MS lab  * add cpp wait for param * updating open hand demo for smoother opening  Version 0.0.45 ^^^^^^^^^^^^^^^ * Added stand to simulation * Updated README * adding additional check Version 0.0.44 (previous melodic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Created /run/user/1000 folder inside the docker container (to fix rqt graphics issue) Version 0.0.43 ^^^^^^^^^^^^^^^ * Local hw interface and fixed do switch with centre of gravity Version 0.0.42 ^^^^^^^^^^^^^^^ * Updated README.md Version 0.0.41 ^^^^^^^^^^^^^^^ * Fixed and added files to make the ur5e with box work and generify the launch file * Added metapackage Version 0.0.40 ^^^^^^^^^^^^^^^ * Updated sr_system.launch * Added full hand ur5e support * Added ur5e normal hand configs Version 0.0.39 ^^^^^^^^^^^^^^^ * Shadow glove GUI updated and moved Version 0.0.38 ^^^^^^^^^^^^^^^ * Updated calibration GUI Version 0.0.37 ^^^^^^^^^^^^^^^ * Tone down UR10e tuning so the arm behaves more smoothly Version 0.0.35 ^^^^^^^^^^^^^^^ * Fix hand control parameter error in setting the payload for UR arm Version 0.0.34 ^^^^^^^^^^^^^^^ * Update motor effort file for left hand * Add relay node with tcp_nodelay param * Hand + UR arm: allow setting cog and payload * Use Shadow's fork of universal robot repositor * Fix biotac visualizer for bimanual * change yaw roll, adjust formulas after real hw testing * Fix sensor manager file  Version 0.0.33 ^^^^^^^^^^^^^^^^^^^ * Changing expected delimiter from newline to '_' in arm firmware checker * Adding x and y separation for left bimanual arm config Version 0.0.32 ^^^^^^^^^^^^^^^ * Set arm IP defaults to new values (10.8.1.1 and 10.8.2.1) and also added a comment about aurora using sed to replace these IPs * Changed hand mapping path default to v4 * fix for arm in safety violation mode * second try at adding ur10 config, minimal changes * Fixing controller spawning bug in which WRJ1+2 would not work when wrist was included in arm trajectory control  * Fixing controller spawning bug in which WRJ1+2 would not work when wr  * Updating calibration gui  Version 0.0.31 ^^^^^^^^^^^^^^^ * Fixed bug in Dexterity Test that stopped hand moving to the correct poses. * Fixed bug in the Bimanual launch files to load correct planning groups. * Mujoco ur hand * Fix ur box * Fixing bug wherein conditional delay script would count found parameter * Adding gui for shadow glove calibration * Moving hand meshes to a more standard path to make gzweb work * parsing hand sides * remove user choice, add conditional delay * arm calibration loader 2 * Adding wrapper script for autodetecting shadow hands Version 0.0.30 ^^^^^^^^^^^^^^^ * Fixed bug in RQT Data Visualiser that stopped other plugins from plotting Version 0.0.29 ^^^^^^^^^^^^^^^ * Config and xacro for hand lite ur10e * Fixed bug with ur_arm_release * Fixed conditional delay bug in sr_interface Version 0.0.28 ^^^^^^^^^^^^^^^ * now correctly handles exception * config and xacro for hand lite ur10e * Adding support for ur5e and hand lite * fixing error message Version 0.0.27 ^^^^^^^^^^^^^^^ * adding hand mapping v4 files * enable ft sensor on ur e robots * adding la_ur10e_with_box xacro * fixed sr_hardware control loop bug * Adding scene and world for ms garage  * Update sr_ur10arm_box.launch  * adding mapping v4 * Fixing args being limited to group scope * Restoring arm_ and hand_ctrl control loop arguments to the previous f * Adding mock triple pedal * Fixing intermittent bug in controller spawning * Updating real time TF republisher for more flexibility * adding ur10e with box yaml files Version 0.0.26 ^^^^^^^^^^^^^^^ * Updated controller spawner * Replaced delay roslaunch with conditional roslaunch Version 0.0.24 ^^^^^^^^^^^^^^^ * Fixed an issue where the config files did not contain a robot_config_file parameter, preventing launch * Fixed an issue where robot_description was not found for the NUC setup * Fixed an issue preventing the effort controllers to launch Version 0.0.20 ^^^^^^^^^^^^^^^ * Fixed an issue where the hand Demo did not recognise Demo Hand D had biotacs Version 0.0.17 ^^^^^^^^^^^^^^^ * Fixed a hand serial issue with launching bimanual hands locally without a NUC Version 0.0.16 ^^^^^^^^^^^^^^^ * Fixed an issue in Rviz displaying left and right hands in the same location without separation when NUC with external control loop is being used Version 0.0.15 ^^^^^^^^^^^^^^^ * Fixed an issue in Gazebo9 not displaying the forearms of the hands properly * Fixed an issue in Rviz displaying left and right hands in the same location without separation Version 0.0.14 ^^^^^^^^^^^^^^^ * Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop Version 0.0.13 ^^^^^^^^^^^^^^^ * Fixed deprecation errors for melodic * Added bimanual with no hands to sr_robot_launch ROS Kinetic ----------- Version 1.0.53 (current kinetic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Fixed an issue with Moveit trajectory planning in the Bimanual setup Version 1.0.52 ^^^^^^^^^^^^^^^ * Fixed a hand serial issue with launching bimanual hands locally without a NUC * Fixed an issue with launching left or right hand locally without a NUC for ROS Kinetic Version 1.0.51 ^^^^^^^^^^^^^^^ * Fixed an issue in Rviz displaying left and right hands in the same location without separation when NUC with external control loop is being used Version 1.0.50 ^^^^^^^^^^^^^^^ * Fixed a bug causing incorrect launch of unimanual left hand in NUC external control loop for ROS kinetic only Version 1.0.49 ^^^^^^^^^^^^^^^ * Fixed an issue in Rviz displaying left and right hands in the same location without separation Version 1.0.48 ^^^^^^^^^^^^^^^ * Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop Version 1.0.45 (current kinetic-release) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Allows Hand control from the NUC * UR firmware check on docker startup * New thumb calibration * Launch files updated Version 1.0.38 ^^^^^^^^^^^^^^^ * Supports using an external control loop (in a NUC) to launch: hand only, arm only, hand+arm * If an arm is connected, there is an automatic arm firmware compatibility check * Automatic compatibility check of the Docker Image and hand firmwares Version 1.0.31 ^^^^^^^^^^^^^^^ * Docker image now built in AWS Version 1.0.26 ^^^^^^^^^^^^^^^ * Added a feature that Docker Image release process checks for pre-existing Docker tags in Dockerhub Version 1.0.25 ^^^^^^^^^^^^^^^ * Updated launch files * Added bimanual control * General bugfixes Version 1.0.24 ^^^^^^^^^^^^^^^ * Fixing a few bugs with the Data Visualizer * Hand E Data Visualizer GUI Version 1.0.21 ^^^^^^^^^^^^^^^ * System logging was added Version 1.0.15 ^^^^^^^^^^^^^^^ * Moveit warehouse branch was changed to our fork to work well. Official moveit warehouse was crashing Version 1.0.12 ^^^^^^^^^^^^^^^ * Moved CyberGlove configuration to its own repository. Using the CyberGlove requires the -cg Docker One-liner flag and correct CyberGlove branch to be specified * If the hand is launched under simulation, use_sim_time is automatically set to true * Added script to test real-time performance (control loop overruns and signal drops) of the computer running the hand and to specify how many seconds to run for * Improved ROS save logs functionality by including debug symbols * Improved ROS save logs functionality by deleting logs over 1 GB (to avoid the computer from filling up) * Improved ROS save logs functionality (and the upload to AWS) to giving the user the option to decline uploading anything to AWS * Added CyberGlobe calibration and tweaking plugins to rqt Version 1.0.9 ^^^^^^^^^^^^^^^ * The Docker container launches in a few seconds Version 1.0.7 ^^^^^^^^^^^^^^^ * Ability to easily upload ROS Logs to Amazon Web Services (AWS) and email them to Shadow Robot Company automatically * PyQtGraph used for plotting back-end in rqt Version 1.0.5 ^^^^^^^^^^^^^^^ * Release of hand E software (kinetic-v1.0.5) and firmware (firmware release 3), using the new firmware release mechanism * Ability to save ROS logs by clicking on an icon on the desktop Version 1.0.2 ^^^^^^^^^^^^^^^ * Initial version