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ROSbot firmware CHANGELOG

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[0.1.0] - 2019-06-19

author: byq77

Initial log. Introducing new ROSbot firmware written using Mbed OS framework.

Added

  • VL53L0X sensors support
  • backward compatible ROS interface
  • battery voltage measurement
  • support for 4 wheel and 2 wheel ROSbot

[0.2.0] - 2019-06-25

author: byq77

Fixed

  • rosserial-mbed.lib v.1.1.1 fixes Buffer bug that would prevent usage larger number of publishers/subscribers

Added

  • MPU9250 support. ROS interface consists of /imu topic with geometry_msgs/QuaternionStamped message.
  • Buttons support. ROS interface consists of /buttons topic with std_msgs/UInt8
    • 1 - BUTTON1 was pressed
    • 2 - BUTTON2 was pressed
  • Multipurpose service server /config. See README.md to learn more.

Changed

  • VL53LX0 and MPU9250 are disabled on default. They can be enabled using /config service server.

[0.3.0] - 2019-06-27

author: byq77

Added

  • new commands:
    • EJSM - ENABLE JOINT STATES MESSAGES
    • RODOM - RESET ODOMETRY

Fixed

  • fixed odometry for 4-wheeled robot

Changed

  • VL53L0X i2c interface frequency set at 400kHz
  • BATTERY LOW indication set at 10.8V

[0.4.0] - 2019-07-19

author: byq77

Added

  • new command:
    • RIMU - RESET IMU
    • EWCH - ENABLE SPEED WATCHDOG
  • speed watchdog (by default enabled), that sets speed to 0 if there is no speed update of /cmd_vel for 1s
  • support for EKF

Changed

  • imu topic changed to mpu9250 with message type rosbot/Imu

Fixed

  • more frequent odometry update
  • odometry coefficient are slightly better adjusted
  • overall firmware's stability is improved
  • max target speed limited to 1.5m/s

[0.4.1] - 2019-07-30

author: byq77

Changed

  • LPF set to 42 Hz and Gyro FSR set to 500dps for IMU.
  • Mbed version changed from 5.12.4 to 5.13.1

[0.5.0] - 2019-08-01

author: byq77

Changed

  • Improved DDR8848 driver implementation for CORE2. Motors' pwm frequency is now set to 21kHz with 1000 steps resolution.
  • changed symbols C and C++ versions (following C11 and C++14 support in Mbed 5.13.x)

[0.6.0] - 2019-08-14

author: byq77

Added

  • support for WS2812B LEDs signalization
  • new command:
    • SANI - SET WS2812B LEDS ANIMATION

Changes

  • some code refactoring and updates
  • DIAMETER_MODIFICATOR factor update

[0.7.0] - 2019-08-23

author: byq77

Added

  • AnimationManager class to control ws2812b's signalization

Changed

  • Better rosserial interface for ws2812b signalization, now you can instantly change the animation and the color.

[0.7.1] - 2019-08-27

author: byq77

Changes

  • the support package name changed from rosbot to rosbot_ekf

[0.7.2] - 2019-09-26

author: byq77

Fixed

  • critical changes in CORE2 target definitions

[0.8.0] - 2019-10-22

author: byq77

Changed

  • mpu9250 i2c implementation changed to non-blocking
  • increased baudrate for Upboard
  • distance sensors enabled by default
  • mbed version changed to 5.14.1

Added

  • firmware version is now printed as ros log

Fixed

  • mpu9250 related bugs

[0.9.0] - 2019-11-06

author: byq77

Changed

  • Improved RosbotDrive module implementation
    • removed most of the unused and trash code,
    • regulator implementation moved to separate class that implements RosbotRegulator interface,
    • class api uses references instead pointers,
    • added motor output setup sequence
  • other small code and configuration improvements

Added

  • Regulator now implements soft start and soft stop.
  • CALI command for wheel odometry calibration.s

[0.9.1] - 2019-11-19

author: byq77

Changed

  • Use direct access to encoder ticks count in getDistance, getAngularPos and getEncoderTicks.

Fixed

  • Bug in getPidout (RosbotRegulatorCmsis.h).

[0.9.2] - 2019-12-10

author: byq77

Fixed

  • USART6 pins configuration.

[0.10.0] - 2020-12-20

author: byq77

Changed

  • Topic names changed from global to relative.
  • New non-blocking implementation of VL53L0X library.
  • Small changes in implementation of MPU9250 library.
  • Improved accuracy of timestamps in ros messages.

Added

  • update_symbols.py script for c_cpp_properties.json symbols update.

Fixed

  • Fixed distance sensors behavior.
  • Fixed sensors error messages

Added

  • Automatic distance sensors reinitialization in case of sensor malfunction/i2c error.

[0.10.1] - 2020-03-10

author: byq77

Fixed

  • MultiDistanceSensor implementation improved (support of new sensors hardware).

Changed

  • It is possible now to initialize less than 4 proximity sensors, but the error message will be printed.

[0.11.0] - 2020-05-19

author: byq77

Added

  • Support for hServo outputs control.
  • New subscriber on /cmd_ser topic for servo output control. See README for more details.
  • New command CSER that allows servo outputs configuration. See README for more details.

[0.12.0] - 2020-06-09

author: byq77

Changed

  • Updated rosserial-mbed implementation (BufferedSerial lib changed to UARTSerial).
  • /pose and /velocity publication frequency increased to ~ 20Hz.

[0.13.0] - 2020-06-30

author: byq77

Added

  • New command CPID that enables pid configuration. See README for more details.
  • New command GPID that returns current pid configuration. See README for more details.

Changed

  • Updated mpu9250-mbed library.
  • New default PID regulator settings.

[0.13.0] - 2020-07-07

author: byq77

Fixed

  • Update MPU9250 readings only if there is more then 32 bytes in the fifo.
  • Fixed servo numeration in cmd_ser topic.

[0.14.0] - 2020-11-13

author: byq77

Added

  • support for BNO055 IMU sensor

[0.14.1] - 2020-11-16

author: byq77

Added

  • angular velocity and linear acceleration for BNO055 IMU sensor

[0.14.2] - 2020-12-18

author: byq77

Fixed

  • fixed bug with MPU9250 initialization (both sensors support)

[0.14.3] - 2021-02-04

  • mecanum kinematics
  • service for change kinematics (DIFF/MEC)
  • changed baud to "525000" for both Rosbot and Rosbot PRO
  • BUG found: resetting odometry not working

[0.14.4] - 2021-05-10

Changed

  • Imu message changed to sensors_msgs/Imu
  • updated core2-imu-driver lib

Fixed

  • fixed the bug in the odometry
  • reverted odometry params

[0.14.5]

TODO: add changes

[0.15.0] - 2021-10-20

Fixed

  • Fixed acc bug for both imu sensors.
  • Fixed the imu acc and gyro units to match units in the sensor_msgs/Imu message.
  • Fixed acc vector orientation for mpu9250.

[0.16.0] - 2022-06-17

Fixed

  • IMU driver update
  • Fixed odometry for mecanum wheels

[0.16.1] - 2022-06-17

Fixed

  • add JOINT_STATES_ENABLE flag