1.7.0

1.7.0 (2019-04-09)

• API changes:

• Deprecated features:

  • kinematic field in JSON console config file has been replaced by arm for MTMs to support gravity compensation (see New features)

• New features:

  • Added gravity compensation for the MTM. Contribution from CUHK. Thank you!
  • Support for multiple teleop components per MTM or PSM (ee issue #97)
    • Using the console, operator can use a "clutch" quick tap to toggle between PSMs.
    • Using ROS topics, programs can select which pairs to activate or de-activate.
  • TeleopPSM: added options to disable jaw on PSM side
  • Teleop Qt widgets: use prmPositionCartesianGet widget
  • Arms: added set ratio velocity and acceleration to control max velocity used in joint tractories

• Bug fixes:

  • Console:
    • Throttle error messages
    • Fixed Coag digital input when operator present is using a different input
    • Fixed valid/timestamp for head sensor events
  • Arms:
    • Fixed valid/timestamp for jaw/gripper joint states
    • Fixed PSM jaw transitions between servo and move modes (see issue #112)
    • Removed reference to deprecated mtml.json and mtmr.json in configuration files (see issue #106)