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1.5.0
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@adeguet1 adeguet1 released this 08 Nov 00:17
· 1068 commits to main since this release
1.5.0
25df147

1.5.0 (2017-11-07)

  • API changes:
    • Console: watchdog default changed to 30 ms. The default can be overridden in console.json file.
    • Arm: SetRobotControlState has been removed, use SetDesiredState and GetDesiredState/GetCurrentState commands along with DesiredState/CurrentState events
    • Arm: no need to set a new state to switch control mode (position/cartesian position/goal/effort)
    • Arm: joint states size is now based on number of joints used for kinematics. Gripper (PSM) and jaw (MTM) are reported using a different joint state command/topic
    • Console: digital inputs/outputs not specific to an arm are now defined in a different file. All sawRobotIO1394-{PSM,ECM,MTM} XML config files need to be updated!
  • Deprecated features:
    • Arm: removed hard coded pot tolerance per arm type. Now uses sawRobotIO XML file to save settings per arm and implementation uses time instead of iteration counter.
  • New features:
    • New dVRK logo: https://github.com/jhu-dvrk/dvrk-logo/blob/master/dVRK-blue-05-04-2017-01.png
    • Arm:
      • New current calibration procedure, reduces current offset and undesired torques when request current is zero. Please regenerate your sawRobotIO configuration files!
      • Use mtsStateMachine to better control initialization and homing, now manages desired vs. current state
      • States for each control mode have been removed, the mode will be automatically set when receiving a new move command
      • Control modes have been added (space: actuator/joint/cartesian/user and mode: position/trajectory/effort/user) instead of states
      • Control mode for user implementations in derived classes can be set using SetControlCallback
      • Use Reflexxes for trajectory generation. Can now interrupt existing trajectory using current velocity instead of resetting to 0. Dropped use of robLSPB
      • Cartesian impedance controller has been added to all arms. Very useful for simple haptic feedback on MTMs. Some examples are available in dvrk-ros.
      • When using firmware 6, use velocity estimation from controller (much better timestamps and estimation)
      • Uses new standardized mtsMessage for Qt messages and ROS log
    • PSM:
      • Added support for 5mm tools (snake-like tools)
      • For 5mm tools, joint state has 8 joints
      • Added IK with equality constraints to support 5mm tools
      • Added implementation for tool specific torque limits (loaded from psm-xyz.json)
      • Added general purpose socket base protocol to communicate with PSM
      • In psm-_.json, no need to provide all coupling matrices, just need the actuator to position
    • MTM: Homing is now slower to prevent hard hits on roll joint. Also just looking for lower limit instead of both lower and upper limits
    • Teleop PSM:
      • Added support for alternate master arm (sawForceDimensionSDK)
    • Console:
      • Added support for dynamic loading of external cisst/SAW components (e.g. sawKeyboard, sawForceDimensionSDK, sawSensablePhantom)
      • Support for alternate foot pedals (keyboard) and master arms (Novint Falcon, ForceDimension)
      • Separated configuration files for digital inputs/outputs from arm configuration files (see API changes)
      • Uses new standardized mtsMessage for Qt messages and ROS log
    • Console Qt:
      • Added tag/clear shortcuts in message window
      • Can power all arms without homing, this allows to test safety chain and pot/encoders without PID on
    • SUJ:
      • use state machine compatible with other arms
      • now reports joint values even if the arm is not in state "READY"
      • minor updates for firmware 6
      • use joint state instead of joint position
    • CMake:
      • Everything can now be compiled on Windows when using proper branch of sawRobotIO
    • ROS:
  • Bug fixes:
    • Fixed loading joint coupling matrix when the arm is started with a tool in place
    • Fixed jumps at homing and control mode transitions with rewritten PID component
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