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@adeguet1 adeguet1 released this 31 Aug 16:29
· 1367 commits to main since this release
1.4.0
a3f6e9d

1.4.0 (2016-08-31)

  • API changes:
  • Deprecated features:
    • Arm modes DVRK_GRAVITY_COMPENSATION and DVRK_CLUTCH will be deprecated in next release, use DVRK_EFFORT_CARTESIAN with commands to turn gravity on/off, lock orientation instead (see example in mtsTeleOperationPSM.cpp)
    • MTM: removed SetWrench method, use SetWrenchBody or SetWrenchSpatial instead
  • New features:
    • Arm:
      • Jacobian body and spatial now stored in state table and accessible via provided interface (array ROS topics)
      • Compute an estimated wrench at tooltip using current feedback converted to joint torques and jacobian body inverse (wrench ROS topic)
      • PSM and ECM don't move when powered on
      • All arms JSON configuration now support base-offset
      • Added command SetBaseFrame and equivalent ROS topic (set_base_frame)
    • PSM:
      • Added JSON configuration file for pro grasp tool
      • Reduced PID gains to increase stability across system (NOTE: make sure you don't use an old PID file)
      • Added command (and ROS topic) to force SetToolPresent (used to test tools without wiring/chip on the back)
    • MTM:
      • Added JSON configuration files for MTM left and right to use stereo display coordinate system
      • Fixed orientation lock, added command to set desired lock orientation
    • Teleop PSM:
      • Uses new mtsStateMachine class
      • Checks that PSM and MTM are in proper state
      • Checks that PSM and MTM are properly aligned, issues warning messages in console when not aligned
    • Console:
      • Added option in configuration file to set FireWire protocol, can significantly improve performance on some systems! See firewire-protocol in file formats wiki page (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/FileFormats)
      • Better support for derived teleop components (both PSM and ECM)
      • Manages state transition for teleop PSM/ECM and user events
      • Added search path to avoid absolute directories in console JSON configuration files, now searches in current directory, directory of console file being loaded and then sawIntuitiveResearchKit/share. This allows to find shared files (PID, kinematics) without copying them around or specifying a full/relative path
      • Default period for arm is now 1.0 ms, for IO/PID 0.3 ms (you should remove all period from your console JSON config files).
    • Console Qt:
      • Keep console widget/log visible on left/bottom, top/right used for IO, PID, Arm widgets in sub tabs
      • Added widget to set scale for all teleop components
      • Added keyboard shortcuts for basic commands (ctrl+H: home, ctrl+O: power off, ctrl+T: start teleop, ctrl+S: stop teleop)
      • Temporary logo for the dVRK
    • SUJ:
      • Ongoing fixes for dSIB rev 3
      • Uses both sets of potentiometers
      • Checks that both sets of potentiometers agree and issues warning messages
    • CMake: separated components from applications/examples (catkin build 0.4 compatible). Since directories have been moved around, all your build trees need to be removed/cleaned. For catkin build tool users, please clean using either catkin clean -a (older catkin build tools) or catkin clean --all (for all catkin versions supporting catkin --version, i.e. 0.4 and above).
    • ROS: sawIntuitiveResearchKit/share directory is now a ROS package so one can find configuration files using the package name dvrk_share
    • Added CISST_EXPORT. Who knows, we might compile this thing on Windows one day...
  • Bug fixes:
    • Data passed from IO to PID to arm doesn't get re-timestamped to preserve original timestamp
    • Arm: fixed computation of cartesian velocities using proper jacobian (twist ROS topic)
    • ECM: fixed inverse kinematics
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