2.2.0

2.2.0 (2024-08-30)

• API changes:
  • Now uses cmnJointType instead of prmJointType
• Deprecated features:
  • None
• New features:
  • None
• Bug fixes:
  • CMake Qt library: added missing library to link on Windows

2.1.0

2.1.0 (2023-11-21)

• API changes:
  • mtsPID:
    • Assumes control is performed on actuators, not joints
    • Removed all code related to actuator to joint coupling
    • Configuration file is now .cdg based and uses JSON (was XML)
    • Effort and position limits come from IO level and are retrieved in Startup method
• Deprecated features:
  • mtsPID: Removed non-linear gains
• New features:
  • mtsPID:
    • Now uses the velocities sent through servo_jp as reference velocities, much better trajectory following!
    • Added support for disturbance observer
  • mtsPID QtWidget:
    • More signals plotted
    • GUI uses CRTK naming convention
    • Added option to save configuration
  • CMake:
    • Updated install targets and debian packages generation
    • Works with ROS2/colcon
• Bug fixes:
  • mtsPID: fixed deadband transitions

2.0.0

2.0.0 (2021-04-08)

• API changes:
  • mtsPID: use CRTK naming convention
  • mtsPID: IO level needs to provide prmStateJoint instead of separate position/velocity/effort
• Deprecated features:
  • Removed mtsTeleoperation, use sawIntuitiveResearchKit mtsTeleopPSM instead
• New features:
  • mtsPID: added feed forward for arms with gravity compensation
  • mtsPID: support prmConfigurationJoint
• Bug fixes:
  • mtsPID: better velocity estimation when in simulation mode

1.7.0

1.7.0 (2019-04-09)

• API changes:
  • Using c++ 14 features Ubuntu 16.04 or higher required
  • osaCartesianImpedanceController: added support for deadband
  • mtsPIDQtWidget: removed set all goals to 0 (dangerous jumps)
• Deprecated features:
  • None
• New features:
  • None
• Bug fixes:
  • mtsPID: use number of active joints for mEffortUserCommand
  • mtsPIDQtWidget: fixed unit conversion for joint values, fixed max joint number in plot area

1.6.0

1.6.0 (2018-05-16)

• API changes:
  • JointState objects now maintain the joint type (revolute, prismatic...)
• Deprecated features:
  • Removed GetJointType
• New features:
  • Use CMN_ASSERT to check vector sizes
• Bug fixes:
  • None

1.5.0

1.5.0 (2017-11-07)

• API changes:
  • mtsPID: full rewrite of main loop using iterators
  • mtsPID: most internal variables renamed, uses prmStateJoint as much as possible
  • mtsPID: throttle tracking error messages
  • mtsPID: now uses mtsMessage for status/warning/error from provided interface
• Deprecated features:
  • None
• New features:
  • Added osaCartesianImpedanceController!
• Bug fixes:
  • mtsPID: desired position properly set when PID is not active on any joint (PID off or in torque mode)
  • mtsPID Widget:
    • only sends desired position if in direct mode!
    • added confirmation message when switching to direct mode

1.4.0

1.4.0 (2016-08-31)

• API changes:
  • mtsPID: when in torque mode, update last desired position based on current position
• Deprecated features:
  • None
• New features:
  • CMake: separated components from applications/examples (catkin build 0.4 compatible)
• Bug fixes:
  • None

1.3.0

1.3.0 (2016-01-08)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • PID: added SetSimulated mode
  • PID: added methods to enable/disable some joints (used to change actuator coupling on the fly)
  • PID: added joint type in XML configuration, used to be pulled from IO, now needed for simulation
  • PID Qt widget: plot/display desired effort
• Bug fixes:
  • PID: forward error as status when PID is disabled

1.2.0

1.2.0 (2015-10-18)

• API changes:
  • Teleop: added commands to lock position/orientation
  • PID: use prmStateJoint (mapped to ROS joint state message) for communication with Qt and ROS
• Deprecated features:
  • None
• New features:
  • PID: use velocities provided by IO level for better damping
  • PID: provides state joint desired (name/position/effort) and measured (name/position/velocity/effort)
  • PID Qt: plot more information (requested/measured torques), better labels for plot
  • Teleop: force master re-align when camera pedal is release (for SUJ support)
  • Teleop: added options to lock orientation/position
  • Teleop Qt widget: buttons to lock orientation/position
• Bug fixes:
  • Teleop: when aligning master to slave, use trajectory mode
  • PID Qt: fixed conversion to mm

1.1.0

1.1.0 (2015-04-28)

• API changes:
  • Teleop: updated command and event names to match sawIntuitiveResearchKit 1.1.0
  • PID: updated command and event names to match sawIntuitiveResearchKit 1.1.0
• Deprecated features:
  • None
• New features:
  • PID: throw event (Warning) when a requested position is outside joint limits
  • PID: throw event (Error) when tracking error is too high
  • Teleop Qt widget: enable check now reflects component status, added text window for messages
• Bug fixes:
  • Catkin/ROS CMake fixes