Changelog

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 (GitHub)
  • Ability to save ROS logs by clicking on an icon on the desktop

Version 1.0.2

  • Initial version