# Changelog

## ROS Noetic

### Version 1.0.18 (Aurora 2.1.5) - current noetic-release * Fixing demo behaviour when tactile sensors are installed

### Version 1.0.17 * Update repository with sr_hand_config * Fix handling of active rosbags * Remove default hand serial parameter * Fixing bug config file pid parameters being erased when saving selected * Rounding up values for joint slider

### Version 1.0.16 * Fixed linter errors * Improve realtime publisher fast pid divisor * Fix joint position/velocity filter * Fix broken rosbags * Increase wait for joints_states message timeout on TeachMode * Fixing arm only launch * Added a System Health Node * Removed incorrect error message

### Version 1.0.15 * Improve realtime publisher fast pid divisor * Fix j0 pos vel filter * Added getter for hand trajectories * Fix broken rosbags * Supporting workspaces without UR components * Changed default version values when launching hand in simulation * Fixing teachmode for different hand types * Fixing arm only launch * Increasing timeout time in teach mode node * Removed incorrect error message * Fixing access modifiers * Fixed linter errors

### Version 1.0.14 (Aurora 2.1.4) - previous 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 (Aurora 2.0.0) - 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 (Aurora 1.1.8) - 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

Features:

  • Updated calibration GUI

### Version 0.0.37

Features:

  • Tone down UR10e tuning so the arm behaves more smoothly

### Version 0.0.35

Features:

  • Fix hand control parameter error in setting the payload for UR arm

### Version 0.0.34

Features:

  • 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

Features:

  • Changing expected delimiter from newline to ‘_’ in arm firmware checker

  • Adding x and y separation for left bimanual arm config

### Version 0.0.32

Features:

  • 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

Features:

  • 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

Features:

  • Fixed bug in RQT Data Visualiser that stopped other plugins from plotting

### Version 0.0.29

Features:

  • Config and xacro for hand lite ur10e

  • Fixed bug with ur_arm_release

  • Fixed conditional delay bug in sr_interface

### Version 0.0.28

Features:

  • 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

Features:

  • 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

Features:

  • Updated controller spawner

  • Replaced delay roslaunch with conditional roslaunch

### Version 0.0.24

Features:

  • 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

Features:

  • Fixed an issue where the hand Demo did not recognise Demo Hand D had biotacs

### Version 0.0.17

Features:

  • Fixed a hand serial issue with launching bimanual hands locally without a NUC

### Version 0.0.16

Features:

  • 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

Features:

  • 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

Features:

  • Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop

### Version 0.0.13

Features:

  • Fixed deprecation errors for melodic

  • Added bimanual with no hands to sr_robot_launch

## ROS Kinetic

### Version 1.0.53 (current kinetic-release)

Features:

  • Fixed an issue with Moveit trajectory planning in the Bimanual setup

### Version 1.0.52

Features:

  • 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

Features:

  • 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

Features:

  • Fixed a bug causing incorrect launch of unimanual left hand in NUC external control loop for ROS kinetic only

### Version 1.0.49

Features:

  • Fixed an issue in Rviz displaying left and right hands in the same location without separation

### Version 1.0.48

Features:

  • Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop

### Version 1.0.45 (current kinetic-release)

Features:

  • Allows Hand control from the NUC

  • UR firmware check on docker startup

  • New thumb calibration

  • Launch files updated

### Version 1.0.38

Features:

  • 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

Features:

  • Docker image now built in AWS

### Version 1.0.26

Features:

  • Added a feature that Docker Image release process checks for pre-existing Docker tags in Dockerhub

### Version 1.0.25

Features:

  • Updated launch files

  • Added bimanual control

  • General bugfixes

### Version 1.0.24

Features:

  • Fixing a few bugs with the Data Visualizer

  • Hand E Data Visualizer GUI

### Version 1.0.21

Features:

  • System logging was added

### Version 1.0.15

Features:

  • Moveit warehouse branch was changed to our fork to work well. Official moveit warehouse was crashing

### Version 1.0.12

Features:

  • 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

Features:

  • The Docker container launches in a few seconds

### Version 1.0.7

Features:

  • 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

Features:

  • 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