1.6.0

1.6.0 (2018-05-16)

• API changes:
• Deprecated features:
  • Fixed reference frames to match ISI convention on real da Vinci systems. mtml.json and mtmr.json are now deprecated
  • In arm JSON configuration files, do not use base-offset. Use console JSON configuration base-frame instead
  • Teleop PSM/ECM JSON: rotation is now moved under configure-parameter
  • Standard (i.e. not system specific) IO XML configuration files moved to share/io folder. Console class will search in share/io so this should be backward compatible
• New features:
  • Teleoperation ECM:
    • First working implementation, tested on JHU system
    • Use structs for MTMR/L and ECM instead of pointers
  • Teleoperation PSM:
    • Match gripper/jaw angle before starting teleoperation
    • Use structs for MTM and PSM instead of pointers
    • Added option to ignore jaw in PSM if MTM doesn't have a gripper (e.g. Falcon)
  • General:
    • Fixed interval statistics with better load estimation, updated Qt widget
    • Fixed 3D rotation widget, show reference frame and allow to rotate view with mouse
    • Transformation Qt widget now shows moving/reference frame names, valid/invalid flag and timestamp
  • Console:
    • While configuring from JSON file, exit if an error is found, this makes it easier to see error messages
    • daVinci head sensor: figured out cabling to connect head sensor from full daVinci system to dVRK controllers, added software support with special component (see https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/HeadSensor#davinci-head-sensor)
    • Added audio feedback, emit different beep tones for operator present, master clutch and camera control pedal. This requires to install sox and espeak (sudo apt install sox espeak)
    • Added component to control endoscopic camera from master console foot pedals (requires custom wires, see instructions https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Full-da-Vinci#endoscope-focus-controller)
  • Arm:
    • Added relative position commands in joint and cartesian space
    • Console JSON configuration file, added base-frame with static transformation and name of reference frame for each arm
    • For all cartesian velocities/twist, added name of moving frame
    • PSM: added set_effort_jaw command, this can be along with set_effort_joint or set_wrench on PSM
  • SUJ:
    • Better/faster propagation of base frames
    • Added simulation mode, can set joint values using ROS topic
    • Removed "desired" position, all positions are "measured"
    • Joint names are now compatible with WPI ROS/urdf models
  • ROS:
    • Added tf2 support
    • Created multiple ROS bridges, publishers, subscribers, tf2 and cisst/SAW period stats (custom message), much faster processing of subscribers
    • Initial support for crtk topics
  • sawRobotIO1394:
    • New velocity estimation on FPGA with firmware rev 6, improved PID and cartesian impedance controllers
    • Software will not allow firmware different from 4, 5 or 6. 6 is recommended
    • If pot/encoder tolerance distance is set to 0, ignore axis in safety checks
    • Code refactor to reduce number of classes and ease maintenance
• Bug fixes:
  • Fixed data member initialization (valgrind)