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CHANGELOG.md

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Change log

[1.6.0] - 2021-03-25

  • [Added] Map for simulated lab.
  • [Changed] Fix the simulator map being the wrong map.
  • [Changed] Change simulator's output topic name to match names from RosAria.
  • [Changed] Controller will now publish [0,0] movement if there is no incoming movement signals.
  • [Changed] simplify map building in simulator.
  • [Changed] Increase Podi's minimum/maximum rotation speed
  • [Fixed] Podi's description was set incorrectly.

[1.5.0]

  • [Added] Added enabling switch to Podi. When true, the button must be hold down to move.
  • [Added] 3rd floor hallway map in NSH.

[1.4.0]

  • [BREAKING] Changed namespace to work with ZED by prefixing by podi_ instead through podi/
  • [Fixed] Issues arised from the namespace problems.

[1.3.1] - 2020-09-20

  • [Fixed] Issue where robot will stop turning after 1 second of the same command.
  • [Added] Infrastructure to add different joystick types and customize buttons.

[1.3.0] - 2020-09-15

  • [Changed] Change Camera from AzureKinect to Zed2
  • [Changed] Change namespace to be more consistent
  • [Changed] Improved computer_state_node
  • [Added] ability to set whether the handle to be full rotation mode or fixed.

[1.2.0] - 2020-09-08

  • [Added] Merged in simulation gazebo package to simplify dependencies.
  • [Added] VCS repo code to build the system.
  • [Changed] Migrated all files to be runnable on ROS Noetic (updated CMAKE file etc.)

[1.1.5] - 2020-08-17

  • [Changed] Tweaked the inertia models of podi to try improve odom readings.
  • [Added] Modified Azure Kinect URDF.
  • [Changed] Camera of Podi is now an Azure Kinect. Gazebo will now publish color, depth, and point clound image.

[1.1.4] - 2020-06-23

Changed

  • Remove navigation from package.xml

[1.1.3] - 2020-06-12

Changed

  • Changed podi laserscanner's type from gpu_ray to ray

[1.1.2] - 2020-05-23

Added

  • Ability to set initial pose for ROS Navigation.
  • Continuous Integration using Github Action. Check for catkin build errors.

Changed

  • Updated the Camera and LiDAR's Gazebo numbers to better match what the real system has.
  • Cleaned up package.xml to enable CI.

[1.1.1] - 2020-04-30

Changed

  • Incorrect topic publishing name for front camera changed from podi/front_camera/podi/image_raw to podi/front_camera/image_raw

[1.1.0] - 2020-04-23

Added

  • tbd_podi_2dnav that acts an interface for ROS Navigation packages. Migrated in old settings from other podi repositories.
  • maps folder and multiple maps. Including sim_NSH_04_2020.yaml that describe the gazebo environment.
  • added rosparam vel_latch_duration that specifies how long old velocities are published if no need velocities are received.

Changed

  • Relied on TF_prefix and namespace to specify type of robot instead of encoding the name into the URDF.
  • Moved the maps originally in tbd_podi_common into tbd_podi_2dnav.
  • Refactor control_robot_node to improve readibility and control flow.

Fixed

  • Incorrect namespace caused Gazebo to crash.
  • Incorrect Laser parameter in the Gazebo description of the front laser
  • Incorrect calculation for the laser limiter node that ignores certain readings.
  • Incorrect differential drive Gazebo setting causing wildly in-accurate URDF.
  • Bug where empty twist will be sent to the robot if there is no new command at the current control loop. Added latch duration that republish old velocities.

Removed

  • unused launch files.

[1.0.1] - 2020-04-21

Added

  • This changelog.

Changed

  • Have all topics and TF frame to be prefixed with podi to prevent collision in multi-robot situations.
  • Changed the differential driver gazebo plugin to use the podi prefix
  • Changed some arguments in roslaunch file to use lower_underscore_case instead of Camelcase.

[1.0.0] - 2020-XX-XX

Initial Release with face, msgs, description, and control components.