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@adeguet1 adeguet1 released this 07 Apr 20:04
2.0.0
805fa08

2.0.0 (2021-04-08)

Added CODE_OF_CONDUCT

  • API changes:

    • Internal cisst commands and ROS topics use CRTK naming convention as much as possible
    • Commands without CRTK equivalents have been renamed using snake_case (vs previous convention using CamelCase) to match ROS/CRTK conventions
    • A conversion script is provided to help porting code to new naming. The process is not fully automated, porting code to dVRK 2.0 will require some manual updates. Script can be found on the cisst repository, in utils/crtk-port. The porting script uses translations files (.dic). We provide a few different translation files:
      • crtk-commands.dict: cisst command names, mostly for C++ code without ROS dependencies
      • crtk-ros-commands.dict: ROS topics translation, mostly to port applications using the ROS topics directly
      • members-saw-intuitive-research-kit.dict: data members and methods for dVRK C++ code. This can be used to port C++ code based on dVRK code C++ code
    • Console configuration files shouldn't use io, pid and kinematic for arms. Instead, use serial and optionally system. The application will then look for the arm JSON configuration file (e.g. PSM1-12345.json)
    • Kinematic config files updated so limits are part of DH parameters, now use SI units!

  • Deprecated features:

    • Reduced search path for configuration files, now need to add directory prefix. For example, to load "sawRobotIO1394-MTMR-foot-pedals.xml", you need to use "io/sawRobotIO1394-MTMR-foot-pedals.xml". Same applies to arm, kinematic, console.

  • New features:

    • General:
      • Supported Linux platforms are Ubuntu/ROS are 16.04/kinetic, 18.04/melodic, 20.04/noetic
      • On Ubuntu, added rosinstall files to use with wstool. This is now the preferred way to retrieve the cisst/SAW/dVRK code
      • Added github workflow (https://github.com/jhu-dvrk/dvrk-github-workflow/actions)
      • JSON schemas are used to validate configuration files and generate documentation, see README in share/schemas
      • Preliminary support for ethernet/UDP. FireWire remains the preferred interface
      • Preliminary support for MacOS and Windows, no ROS and with ethernet interface only (no FireWire support)
      • sawSocketStreamer and sawOpenIGTLink support using configuration files (README can be found in share directory)
      • Dark mode (option -D)
    • Console:
      • Added event + ROS to report if teleop is enabled
      • Exposed audio features: set volume, beep and text to speech to ROS
      • Emulate foot pedal events (operator, clutch, camera) using ROS topics
      • Widget:
        • Display list of arms and current state (using color). Clicking on arm name brings arm widget in focus
        • Display list of tele-op PSM pairs, selectable in GUI. Clicking on pair name brings pair widget in focus
        • In Direct mode, emulate console events (clutch, camera...) using check boxes
        • Added widget for endoscope focus (+/-)
    • Arm:
      • Use CRTK convention for most motion and operating state commands
      • Faster homing by loading preloaded encoders from controllers
      • Added command to get joint configuration (name, type, limits for position, velocity and effort)
      • Added single ratio applied to both velocity and acceleration for move commands
      • Added ROS service to query frames along kinematic chain for a given set oof joint values
      • Widget:
        • In Direct mode, added widget to move arm using move_jp command (joint space) and jaws (for PSM)
        • Added operating state widget with ability to send state commands in Direct mode
        • For PSM and MTM, display jaws and gripper joint state
    • ECM:
      • Added gravity compensation
      • Use PID feed forward, better PID tracking, higher maximum velocity for trajectory generation
      • Support multiple endoscope types (SD/HD, straight/up/down)
      • Use closed form IK
      • Widget: added drop down menu to select endoscope type (in manual mode)
    • MTM:
      • In effort mode, apply torque to wrist platform to move away from user's hand. Force can be scaled using configuration setting platform-gain
    • PSM:
      • Added support to change tool type at runtime. With proper hardware/firmware, get tool type automatically from Dallas Chip
      • Kinematic is now defined using the arm part (first 3 dofs) and tool part (last 3 or 5 dofs) and optional gripper
      • Tool definition files added in share/tool
      • Widget:
        • Added drop down menu to select tool type (in manual mode)
        • Added plot to display jaw effort
    • SUJ:
      • Added simulated mode
      • In simulated mode, added command/configuration setting to set joint positions
    • Teleoperation PSM:
      • Better engage check to start tele-operation when starting and after clutch
      • Added rate control on PSM jaws, slower when engaging
      • Scale angle to match jaw and gripper ranges
      • Support tele-operation while ECM is moving
      • Widget: display orientation offset between MTM and PSM
    • ROS:
      • Matlab and Python client libraries are now based on CRTK client libraries, see dvrk-ros CHANGELOG.md
      • cisstMultiTask dVRK arm using ROS topics, can be used to tele-operate between two computers with ROS as middle-ware
    • sawRobotIO1394:
      • Widget: more closely match sawRobotIO names, shows safety relay status
      • Software will only allow firmware 6 and 7. 7 is recommended
      • Code refactor to reduce number of classes and ease maintenance
      • Moved to format 4 to enforce new features
      • MTMs use two files, one for 7 active joints, one for gripper analog input
    • Utilities:
      • Added qlacommand to superseed qlacloserelays. Examples: qlacommand -c open-relays, qlacommand -pudp -c reboot
      • Added script to reset FireWire kernel modules on PC. It requires sudo privileges: sudo `which qlareloadfw.bash`
      • Kernel log messages (dmesg -w) now display the board id, board type (f for FireWire, e for ethernet) and firmware version

  • Bug fixes:

    • Fixed bug re. setting trajectory ratios not always applied
    • Tele-operation for PSM, use alignment mismatch to avoid small jump when engaging
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