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Merge pull request #204 from jhu-dvrk/rc-2.3.0
rc 2.3.0
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| Change log | ||
| ========== | ||
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| 2.2.1 (2023-12-29) | ||
| ================== | ||
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| * API changes: | ||
| * Add `deinterlace` for gscam launch for DeckLink cards | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * Added `-s` to publish raw voltages for SUJs | ||
| * Bug fixes: | ||
| * None | ||
|
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| 2.2.0 (2023-11-21) | ||
| ================== | ||
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| * API changes: | ||
| * :warning: All topics `measured_cp` and `setpoint_cp` use `PoseStamped` instead of `TransformStamped` | ||
| * `video.md` and video launch files moved to newly created `dvrk_video` package (still part of this repository) | ||
| * New features: | ||
| * Support for Si PSMs, ECM and SUJ | ||
| * All video related files (launch and md) moved to ROS package `dvrk_video` to avoid build dependencies on the full dVRK stack | ||
| * Added `vcs` files (replacing `wstool`) for dVRK 2.1, 2.2 and devel | ||
| * Added command line options to expose more IO and PID topics | ||
| * `dvrk_console_json` can locate `ros-io-<arm>.json` files using internal path, no need to specify the full path | ||
| * All Python examples updated to use newly introduced `crtk.ral` (ROS Abstraction Layer) and `crtk.check_connections` | ||
| * Added `dvrk_reset_teleoperation.py` to reposition MTMs and PSMs to better position between teleoperation tasks, very useful for user studies! | ||
| * `dvrk_bag_replay.py`: can now replay using `setpoint_jp` or `setpoint_cp`, fixed timing, doesn't use full `dvrk.psm` but creates a light class using `crtk.utils`, record and send joint velocities for better trajectory following | ||
| * Bug fixes: | ||
| * Many | ||
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| 2.1.0 (2021-08-10) | ||
| ================== | ||
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| * API changes: | ||
| * Potentiometer ROS topics use joint state messages | ||
| * Instrument name is now following the convention `name:model[version]`. It used to be `name_model` | ||
| * New features: | ||
| * Added Python example `dvrk_bag_replay` to replay trajectory from a ROS bag | ||
| * Added Matlab and Python examples for new CRTK feature `while move_handle.is_busy()` | ||
| * Bug fixes: | ||
| * Python 3 | ||
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| 2.0.1 (2021-05-26) | ||
| ================== | ||
|
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| * API changes: | ||
| * None | ||
| * New features: | ||
| * dvrk_console_json: | ||
| * Added calibration mode (command line option -C) to disable potentiometer checks and saving encoder offsets when calibrating potentiometers | ||
| * Added command line option to use cisstMultiTask state table collectors (-c) | ||
| * Bug fixes: | ||
| * None | ||
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| 2.0.0 (2021-04-08) | ||
| ================== | ||
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| * API changes: | ||
| * All ROS topics have change to follow the CRTK naming convention, see CHANGELOG for sawIntuitiveResearchKit | ||
| * ROS namespaces don't use the prefix `dvrk`. Use the standard ROS option `__ns:=` if you need a specific namespace | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * Added `.rosinstall` file | ||
| * Using Matlab and Python client based on CRTK clients - APIs are now consistent across languages | ||
| * Matlab python now used `+dvrk` to create dVRK package (see https://github.com/collaborative-robotics/crtk_matlab_client) | ||
| * ROS bridge uses *cisst-ros* CRTK bridge for most ROS topics | ||
| * Added `dvrk_hsrv_widget`, a simple widget that can be displayed in surgeon's console to show dVRK status | ||
| * Added experimental script to calibrate PSM joint 3 (inserttion joint): `dvrk_calibrate_potentiometer_psm.py` | ||
| * Added `dvrk_arm_from_ros` which allows to create a dVRK console with a remote arm over ROS. This can be used for tele-operation across network | ||
| * More topics exposed, endoscope focus, volume, beep, text to speech, forward kinematic... See full API: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/API-2.x | ||
| * Bug fixes: | ||
| * Better ROS shutdown for C++ applications | ||
| * Support ctrl-c for Python code | ||
| * Plenty | ||
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| 1.7.0 (2019-04-09) | ||
| ================== | ||
|
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| * API changes: | ||
| * ROS namespaces are now relative, `dvrk_console_json` uses the namespace `dvrk/`, not `/dvrk/`. | ||
| * Deprecated features: | ||
| * Old deprecated examples have been removed | ||
| * New features: | ||
| * Support Python3 | ||
| * Log file (`cisstLog.txt`) is now timestamped | ||
| * ROS topics to: | ||
| * Set velocity/acceleration ratio for trajectory generation | ||
| * Set and check active teleop PSM components | ||
| * Bug fixes: | ||
| * Fixed issue with `coag` being hidden if used for operator present | ||
| * Launch files use `xacro`, not the deprecated `xacro.py` | ||
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| 1.6.0 (2018-05-16) | ||
| ================== | ||
|
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| * API changes: | ||
| * None | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * dvrk_robot: | ||
| * Add tf2 support | ||
| * Multiple threads used, one for publishers, one for tf2 and one for subscribers. This reduces latency on all subscribers | ||
| * Publishes interval statistics for IO component as well as ROS bridges | ||
| * SUJ joint state subscriber when in simulation mode | ||
| * Added psm `set_effort_jaw` subscriber | ||
| * Python: | ||
| * Added PSM effort test program | ||
| * Added cartesian impedance MTM test program | ||
| * dVRK logo available in STL format for RViz and Gazebo | ||
| * video.md: added some documentation and launch files for DeckLink frame grabbers | ||
| * Bug fixes: | ||
| * Fixed missing latch on event publishers | ||
| * `dvrk_console_json` should now quit on ctrl+c | ||
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| 1.5.0 (2017-11-07) | ||
| ================== | ||
|
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| * API changes: | ||
| * dvrk_robot: | ||
| * Update to match new arm state machine | ||
| * Joint commands are now using joints for kinematics only. On PSM, jaw is not the last joint anymore, it has its separate topics | ||
| * PSM jaw and MTM gripper now use joint state to report position/velocity/effort | ||
| * Better support for console/footpedals events | ||
| * Python: | ||
| * Added blocking/non blocking flag for move commands using trajectory generation | ||
| * Matlab: | ||
| * Added flag to send direct move commands (vs. trajectory goals) | ||
| * Removed all callbacks since these tended to block the interpreter, now use getters to get latest value received. Getters return timestamp as well. | ||
| * Added ecm.m, console.m and teleop_psm.m | ||
| * Code factorization for all conversion methods | ||
| * Models/URDF: | ||
| * PSM now subscribes to joint state for jaw to control last joint | ||
| * Added crude models for 5mm tools | ||
| * Fixed some xacro warnings | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * dvrk_robot: | ||
| * Teleop now has an event to track if PSM is folowing master | ||
| * SUJ publishes joint state | ||
| * Publishes io interval statistics | ||
| * Added topics for cartesian impedance controller + examples | ||
| * Support for some topics when using generic MTMs (Falcon/ForceDimension) | ||
| * Python: | ||
| * Added test/example programs in dvrk_python/scripts | ||
| * Added subscribers for jacobians, set effort joint | ||
| * Matlab: | ||
| * Added test/example programs in dvrk_matlab/test | ||
| * Added subscribers for jacobians, set effort joint | ||
| * Bug fixes: | ||
| * dvrk_calibrate_potentiometers now uses arm.py | ||
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| 1.4.0 (2016-08-31) | ||
| ================== | ||
|
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| * API changes: | ||
| * Python: | ||
| * API uses numpy arrays for joints and PyKDL for 3D commands, no more Python arrays/lists | ||
| * Import as a package using `import dvrk` | ||
| * Added base class arm.py with common features as well as mtm.py, ecm.py, psm.py for arm specific topics | ||
| * Added wrappers console.py, suj.py and psm-teleop.py for corresponding ROS topics | ||
| * Matlab: | ||
| * API more closely matches Python interface | ||
| * Use with CAUTION, it works fine in interactive mode but in a script, Matlab tends to never call the ROS spin function and the callbacks are failing. See more comments in the dvrk_matlab readme.md | ||
| * Deprecated features: | ||
| * Message types have changed to take adavantage of Stamped data type (mostly for timestamps). See compatibility mode in new features. | ||
| * dvrk_kinematics, dvrk_teleop and rqt_dvrk are now deprecated, still available in directory `deprecated` | ||
| * New features: | ||
| * dvrk_robot: | ||
| * Added many topics to match more closely the C++ available commands (see dVRK API wiki page) | ||
| * Added compatibility mode to maintain old topic names and message types. For example, `dvrk_console_json` has the option `--compatibility <value> : compatibility mode, e.g. "v1_3_0", "v1_4_0" (optional)` | ||
| * Bug fixes: | ||
| * Better timestamps (cisst-ros new feature) | ||
|
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| 1.3.0 (2016-01-08) | ||
| ================== | ||
|
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| * API changes: | ||
| * Python: now import as a package using `import dvrk_python.robot` | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * Potentiometer calibration script: `dvrk_robot/scripts/dvrk_calibrate_potentiometers.py` | ||
| * dvrk_robot: added low level IO data collection for pots/joints/actuators (see potentiometer calibration wiki) | ||
| * dvrk_robot: added set_wrench topics | ||
| * dvrk_robot: console supports kinematic simulation with RViz (optional) | ||
| * Bug fixes: | ||
| * None | ||
|
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| 1.1.1 (2015-10-18) | ||
| ================== | ||
|
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| * Change log file created | ||
| * API changes: | ||
| * Removed joint_publisher python code, now use topics directly from dVRK C++ stack (so much cleaner!) | ||
| * Config file name, urdf and rviz, use dVRK C++ arm naming convention, i.e. PSM1, not psm_one, ... | ||
| * Updated al urdf code to handle arm name as parameter (e.g. PSM1, PSM2) | ||
| * Deprecated features: | ||
| * None | ||
| * New features: | ||
| * dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types | ||
| * dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types | ||
| * Bug fixes: | ||
| * fixed urdf for PSM jaw angle | ||
| * ... |
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