iirob · destogl · Nov 21, 2018 · Nov 22, 2018 · Nov 22, 2018 · Nov 27, 2018
diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic
diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_base_drive_chain
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_base_drive_chain</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information.</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package cob_bms_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+* Merge pull request `#381 <https://github.com/ipa320/cob_driver/issues/381>`_ from pholthau/boost-format
+  include boost/format.hpp
+* include boost/format.hpp
+* Contributors: Felix Messmer, Patrick Holthaus
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_bms_driver</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>
     Driver package for interfacing the battery management system (BMS) on Care-O-bot.
   </description>

diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_camera_sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_camera_sensors</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>For more information read the readme.htm file located in</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_canopen_motor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_canopen_motor</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica".</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_driver/package.xml b/cob_driver/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_driver</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc...</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_elmo_homing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_elmo_homing</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>This packagae implements the special homing procedure that is needed for old cob4/raw bases</description>
 
   <maintainer email="florian.weisshardt@ipa.fraunhofer.de">Florian Weisshardt</maintainer>

diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_generic_can
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_generic_can</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters.</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_light
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_light/package.xml b/cob_light/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_light</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>This package contains scripts to operate the LED lights on Care-O-bot.</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_mimic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_mimic</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>This package implements the Care-O-bot mimic</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_phidget_em_state
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_phidget_em_state</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The cob_phidget_em_state package</description>
 
   <maintainer email="benjamin.maidel@mojin-robotics.de">Benjamin Maidel</maintainer>

diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_phidget_power_state
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_phidget_power_state</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The cob_phidget_power_state package</description>
 
   <maintainer email="benjamin.maidel@mojin-robotics.de">Benjamin Maidel</maintainer>

diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package cob_phidgets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+* Merge pull request `#386 <https://github.com/ipa320/cob_driver/issues/386>`_ from benmaidel/fix/check_sensor_value
+  [cob_phidgets] srv callback check if digital sensor is already at desired state
+* fix indentation
+* on srv callback check if digital sensor is already at desired state
+* Contributors: Benjamin Maidel, Felix Messmer, fmessmer
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_phidgets</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>cob_phidgets</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_phidgets/ros/src/phidgetik_ros.cpp b/cob_phidgets/ros/src/phidgetik_ros.cpp
@@ -297,28 +297,38 @@ auto PhidgetIKROS::setDigitalOutCallback(cob_phidgets::SetDigitalSensor::Request
 	_indexNameMapRevItr = _indexNameMapDigitalOutRev.find(req.uri);
 	if(_indexNameMapRevItr != _indexNameMapDigitalOutRev.end())
 	{
-		ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state);
-		this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state);
-
-		ros::Time start = ros::Time::now();
-		while((ros::Time::now().toSec() - start.toSec()) < 1.0)
+		if(this->getOutputState(_indexNameMapDigitalOutRev[req.uri]) == req.state)
 		{
-			_mutex.lock();
-			if(_outputChanged.updated == true)
+			ROS_INFO("Digital output %i is already at state %i", _indexNameMapDigitalOutRev[req.uri], req.state);
+			res.uri = req.uri;
+			res.state = req.state;
+			ret = true;
+		}
+		else
+		{
+			ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state);
+			this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state);
+
+			ros::Time start = ros::Time::now();
+			while((ros::Time::now().toSec() - start.toSec()) < 1.0)
 			{
+				_mutex.lock();
+				if(_outputChanged.updated == true)
+				{
+					_mutex.unlock();
+					break;
+				}
 				_mutex.unlock();
-				break;
+
+				ros::Duration(0.025).sleep();
 			}
+			_mutex.lock();
+			res.uri = _indexNameMapDigitalOut[_outputChanged.index];
+			res.state = _outputChanged.state;
+			ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state);
+			ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri]));
 			_mutex.unlock();
-
-			ros::Duration(0.025).sleep();
 		}
-		_mutex.lock();
-		res.uri = _indexNameMapDigitalOut[_outputChanged.index];
-		res.state = _outputChanged.state;
-		ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state);
-		ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri]));
-		_mutex.unlock();
 	}
 	else
 	{
@@ -406,10 +416,10 @@ auto PhidgetIKROS::attachHandler() -> int
 auto PhidgetIKROS::detachHandler() -> int
 {
 	int serial_number;
-    const char *device_name;
+	const char *device_name;
 
-    CPhidget_getDeviceName ((CPhidgetHandle)_iKitHandle, &device_name);
-    CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serial_number);
-    ROS_INFO("%s Serial number %d detached!", device_name, serial_number);
-    return 0;
+	CPhidget_getDeviceName ((CPhidgetHandle)_iKitHandle, &device_name);
+	CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serial_number);
+	ROS_INFO("%s Serial number %d detached!", device_name, serial_number);
+	return 0;
 }
diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package cob_relayboard
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
 0.6.12 (2018-07-21)
 -------------------
 

diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_relayboard</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>cob_relayboard</description>
   <license>Apache 2.0</license>
 

diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package cob_scan_unifier
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+* Merge pull request `#385 <https://github.com/ipa320/cob_driver/issues/385>`_ from fmessmer/scan_unifier_range_initialization
+  initialize ranges with max_range rather than zero
+* add explanatory comment
+* initialize ranges with max_range rather than zero
+* Contributors: Felix Messmer, fmessmer
+
 0.6.12 (2018-07-21)
 -------------------
 * update maintainer

diff --git a/cob_scan_unifier/CMakeLists.txt b/cob_scan_unifier/CMakeLists.txt
@@ -5,7 +5,8 @@ find_package(catkin REQUIRED COMPONENTS
   laser_geometry
   roscpp
   sensor_msgs
-  tf
+  tf2
+  tf2_ros
 )
 
 catkin_package()

diff --git a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h
@@ -28,17 +28,19 @@
 
 // ROS includes
 #include <ros/ros.h>
-#include <tf/transform_listener.h>
-#include <tf/tf.h>
-#include <tf/transform_datatypes.h>
 #include <sensor_msgs/PointCloud.h>
+#include <sensor_msgs/PointCloud2.h>
 #include <laser_geometry/laser_geometry.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>
 
+//includes tf2_ros
+#include <tf2_ros/transform_listener.h>
+
 // ROS message includes
 #include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/point_cloud_conversion.h>
 
 
 //####################
@@ -104,8 +106,9 @@ class ScanUnifierNode
     // declaration of ros publishers
     ros::Publisher topicPub_LaserUnified_;
 
-    // tf listener
-    tf::TransformListener listener_;
+    tf2_ros::Buffer *p_tfBuffer;
+    tf2_ros::TransformListener *p_tfListener;
+    uint _num_transform_errors;
 
     // laser geometry projector
     laser_geometry::LaserProjection projector_;

diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_scan_unifier</name>
-  <version>0.6.12</version>
+  <version>0.6.13</version>
   <description>The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message</description>
 
   <maintainer email="felixmessmer@gmail.com">Felix Messmer</maintainer>
-Original file line number
+Diff line change
@@ Expand Up / @@ -5,7 +5,8 @@ find_package(catkin REQUIRED COMPONENTS @@
       laser_geometry
       roscpp
       sensor_msgs
-      tf
+      tf2
+      tf2_ros
     )
     catkin_package()
@@ Expand Down @@