1.9 - Groovy unstable

1.9.3 (2013-02-28)

• Update controllers with new pluginlib macro.

1.9.2 (2013-01-22)

• move pr2_controllers_msgs in stacks/

• REVERTED

1.9.1 (2013-01-22)

• catkinize pr2_controllers_msgs

• REVERTED

1.9.0 (2012-09-18)

• make it compile for Groovy using the new tf

1.8 - Fuerte

1.8.1 (2012-12-24)

• move control_toolbox into ros_control

1.8.0 (2012-09-18)

• actually 1.7.4. Branching for fuerte

1.7 - Unstable

1.7.4 (forthcoming)

• Compile and link fixes for OSX.
• Replaced Dither class with new code with appropriate license.

1.7.3 (2012-01-31)

• Removed Dither class

1.7.2 (2012-01-26)

• The correct joints are now being wrapped in the trajectory controller <<Ticket(wg-ros-pkg 5148)>>

• Have calibration controller ignored saved calibration when 'force_calibration' rosparam is true.
• Also, have wrist, caster,and gripper ignore saved calibration when 'force_calibration' rosparam is true.

• Remove deprecated roslib::Header usage

• Oneiric boost linker fixes

1.7.1 (2011-12-28)

• Changed Eigen to a rosdep
• The single joint position action waits a bit for the controller to start.

1.7.0 (2011-12-15)

• comply to the eigen/bullet changes in Fuerte

1.6 - Stable (Electric)

1.6.2 (2012-02-06)

• Replaced Dither class with new code with appropriate license.

1.6.1 (2012-01-31)

• Removed Dither class from control_toolbox

1.6.0 (2011-12-15)

• Branching 1.6 stable for Electric

1.5 - Unstable

1.5.6 (2011-08-12)

• Removed fake_a, fake_j and transmission propagation from joint calibration controller.

1.5.5 (2011-08-03)

• Updated the proxy to include integral terms and better documentation.

1.5.4 (2011-07-15)

• Added the JTCartesianController to pr2_controllers

1.5.3 (2011-07-13)

• Port to Eigen3
• Remove deprecated usage of array resize in messages

1.5.2 (2011-07-07)

• Added the proxy to prevent overshoot in the shoulder joints

1.5.1 (2011-07-05)

• Move to rosdep version of tinyxml

1.5.0 (2011-06-08)

• Branched from 1.4
• The point head action now supports the pointing axis and frame option

1.4 - Stable (Diamondback)

1.4.0 (2011-02-11)

• Branched 1.3.4 to create the 1.4 branch

1.3 - Unstable

1.3.4 (2011-02-11)

• robot_mechanism_controllers

  • fix joint_position_controller's updatePID call to use joint velocity. Assuming desired velocity is 0. Doing so removes jitter in joint effort command in simulation and removes a large effort command spike every time a new position command is given due to race condition.

1.3.3 (2011-01-24)

• The JointTrajectoryActionController now uses tolerances from the FollowJointTrajectory message.

• Some new code in pr2_mechanism_model requires the Joint object to be filled in when calling propagatePositionsBackwards on the wrist transmission. The wrist calibration controller has never filled these in, leading to a segfault during calibration. This commit fills in the Joint objects for the wrist, allowing calibration to run to completion.

1.3.2 (2011-01-14)

• pr2_controllers now depends on the control stack so it can use messages from control_msgs

• Compatibility fix for Header in Diamondback

• The JointTrajectoryActionController now supports the FollowJointTrajectory action (new non-PR2-specific action)

1.3.1 (2011-01-05)

• Using CMake rules from actionlib_msgs. The CMake rules in actionlib have been removed.
• Removed trajectory_msgs from pr2_controllers (it now resides in common_msgs)

1.3.0 (2011-01-05)

• PR2 base controller correctly counts the number of wheels <<Ticket(wg-ros-pkg 4948)>>

• More debugging output for PR2BaseController: now outputs commanded joint velocities

1.2 - Stable

1.2.6 (2011-01-04)

• PR2 base controller correctly counts the number of wheels <<Ticket(wg-ros-pkg 4948)>>

1.2.5 (2010-07-27)

• pr2_calibration_controllers

  • Critical fix for wrist calibration controllers. Since the 1.2.4 release the wrists are calibrating at the wrong position.

1.2.4 (2010-07-22)

• robot_mechanism_controllers

  • Resetting windup for pid controller in joint position controller. <<Ticket(wg-ros-pkg 4485)>>

• pr2_calibration_controllers

  • Restarting wrist calibration if the computed offset is NaN. <<Ticket(wg-ros-pkg #4325)>>

  • Store offset from optical flag in actuator, and reference position offset in joint. This needs to get released together with pr2 mechanism 1.2.1

1.2.3 (2010-07-09)

• pr2_calibration_controllers

  • Changed gripper stopping velocity so calibration works in gazebo <<Ticket(wg-ros-pkg 4510)>>

1.2.2 (2010-06-22)

• pr2_calibration_controllers

  • Gripper now closes, backs off, and closes again slowly for calibration. Should eliminate some "undershoot" in gripper position data. <<Ticket(wg-ros-pkg 4088)>>

  • Moved the calibration controllers to use DECLARE for pluginlib

1.2.1 (2010-06-03)

• pr2_calibration_controllers

  • Mark all gripper joints as calibrated when gripper does not require re-calibraiton. <<Ticket(wg-ros-pkg 4387)>>

• robot_mechanism_controllers

  • Fixed wrapping bugs in the joint trajectory controllers which were causing continuous joints to spin.

1.2.0 (2010-05-21)

• pr2_calibration_controllers

  • Check if calibration happens on correct flag. <<Ticket(wg-ros-pkg 3841)>>. Check applies to joint and caster calibration controllers.

• Updated the controllers to use DECLARE_CLASS with namespaces for pluginlib.
• Added an output filter to the joint trajectory action controller.

• Add service pr2_controllers_msgs/QueryCalibrationState that returns bool to check if a joint is calibrated <<Ticket(wg-ros-pkg 4250)>>

1.1 - Unstable

1.1.4 (2010-04-21)

• Fixed race condition in the trajectory action controller where the active goal flag would get cleared incorrectly by realtime.

• control_toolbox::Dither now correctly gives white noise. <<Ticket(wg-ros-pkg 4213)>>

• Calibration controllers allow both rising and falling edges in urdf for continuous joints <<Ticket(wg-ros-pkg 3948)>>

• Fixing error reporting for wrist calibration (#4172, #4173)
• Joint trajectory action controller wraps trajectories (#3745)

1.1.3 (2010-04-06)

• Calibration controllers support actuators that store their zero offset between runs.

1.1.2 (2010-04-02)

• The base controller had non-backwards compatible changes. Reverted to old version, and renamed new version to BaseController2.

1.1.1 (2010-04-01)

• Fixed build. Failure was due to actionlib being on trunk instead of latest when running build tests.
• Calibration controllers now support the calibration offsets being stored on the MCBs.

1.1.0 (2010-04-01)

• The projector controller now updates the projector current setting each time through the realtime loop. Otherwise, some lockout conditions were causing the current to be set to zero, and it was never being reset to the proper value.
• pr2_controllers_msgs now autogenerates its action messages during build step. Removed the autogenerated files from version control
• pr2_gripper_action now depends explicitly on pr2_mechanism_model.
• Upped the tolerance for determining that a joint is stopped in the joint trajectory action to handle jittering in gazebo.

• Removed push_back from the realtime part of the calibration controllers <<Ticket(wg-ros-pkg 3949)>>

• Made the stall velocity threshold configurable in pr2_gripper_action <<Ticket(wg-ros-pkg 4073)>>

• Created the joint trajectory action controller, which combines the joint spline trajectory controller and the joint trajectory action.

• Upped tolerance for determining if the controller is following a different goal in the pr2_gripper_action <<Ticket(wg-ros-pkg 4076)>>

• Joint trajectory action controller now accepts goals with a timestamp of 0 <<Ticket(wg-ros-pkg 3896)>>

1.0 - Stable

1.0.5 (Forthcoming)

1.0.4 (2010-06-03)

• robot_mechanism_controllers

  • Fixed wrapping bugs in the joint trajectory controllers which were causing continuous joints to spin.

1.0.3 (2010-05-20)

• Calibration controllers allow both rising and falling edges in urdf for continuous joints <<Ticket(wg-ros-pkg 3948)>>

• Fixing error reporting for wrist calibration <<Ticket(wg-ros-pkg 4172)>>

1.0.2 (2010-04-19)

• Removed push_back from the realtime part of the calibration controllers <<Ticket(wg-ros-pkg 3949)>>

• Upped tolerance for determining if the controller is following a different goal in the pr2_gripper_action <<Ticket(wg-ros-pkg 4076)>>

• control_toolbox::Dither now correctly gives white noise. <<Ticket(wg-ros-pkg 4213)>>

• Upped tolerance for different goals in the pr2_gripper_action <<Ticket(wg-ros-pkg 4076)>>

1.0.1 (2010-02-01)

• PR2's wrist calibration controller now approaches both flex & roll from a known side. Solves calibration hysteresis issues.

• Trajectory controller was incorrectly reporting velocity error in state messages.

• Removed defunct "GripperCalibrationControllerNode" from controller plugins list.

1.0.0 (2010-01-21)

• 1.0 Release!
• control_toolbox/dither.h now initializes with arguments in the init() function instead of parameters. init from node handle is removed.

• joint_trajectory_action waits to succeed until the velocity is zero on the final position (when the final desired velocity is zero).

• Removed string comparisons from the realtime loop of the PR2 odometry controller.

• Removed Ramp from control_toolbox

• Removed deprecated code that checked for "reference_position" from the calibration controllers.

0.3 - Unstable

0.3.1 (2010-01-14)

• Added caster velocity filter to the base controller
• Removed subscription to cmd_vel from the base controller
• Updates to various doxygen pages
• Wrist calibration controller no longer asserts against hardware failure. Prints an error and retries instead.

0.3.0 (2010-01-12)

• pr2_controllers is now in stable release

0.2 - Unstable

0.2.0 (2009-12-18)

• Moved messages used by the controllers into the pr2_controllers_msgs package.

• Added ethercat_trigger_controllers for controlling non-mechanism ethercat devices.

• Added actions for commanding certain controllers. These include the pr2_gripper_action, pr2_head_action, single_joint_position_action, and joint_trajectory_action

• Added the gripper controller (Pr2GripperController)

0.1 - Unstable

0.1.0 (11/10/2009)

• Initial release