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@github-actions github-actions released this 10 Feb 04:49
· 1038 commits to master since this release
v1.9.0
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gergondet Pierre Gergondet
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New build tool

  • Introduce mc-rtc-superbuild a new tool to replaced the build_and_install script
    • See #221 for a list of benefits of mc-rtc-superbuild over build_and_install
    • build_and_install will be maintained and should keep working for a while but new users are advised to use the superbuild tool instead
    • You can start using mc-rtc-superbuild if you are using build_and_install already but this will require a full rebuild

Changes

  • hpp-spline has been dropped in favor of the actively maintained ndcurves (#210)
  • Ubuntu Xenial (16.04) is no longer actively supported
  • [mc_control] Allow plugin loaded at the controller level (#198)
    • See the global plugins tutorial for caveats and details regarding configuration
  • [mc_control_fsm] A state final name is now correctly state when it enters ::configure for the first time (#218)
  • [mc_log_ui] Autoscaling has been improved (#222)
  • [mc_rbdyn/mc_control_fsm] Contacts now compare equal regardless of the robots' order (i.e. r1::s1/r2::s2 == r2::s2/r1::s1) (#202)
  • [mc_rtc] YAML improvments (#208/#213)
    • Allow to use the merge key from YAML 1.1
    • Disable y/n and yes/no bool conversion
  • [mc_rtc] ObjectLoader sandboxing has been removed (#217)

Fixes

  • [build_and_install] Fix permissions issues on ninja logs
  • [cmake] Handle building on aarch64 (#217)
  • [cmake] Honor GNUInstallDirs (#217)
  • [mc_control] Fix crash on controller restart/reset (#206)
  • [mc_control] Fix issues with removeRobot (#207)
  • [mc_log_ui] Fix many functionalities when running in Python 3 (#222)
  • [mc_rbdyn] Fix stabilizer configuration loading (#206)
  • [mc_solver] Automatically swap contact order if the first robot has no dof (#202)
  • [mc_tasks] Correct name setting for EndEffectorTask

Added

  • [GUI] Forms can now have dynamic elements (#197)
  • [GUI] New plots can be added to a plot after it has been added (#197)
  • [mc_bin_utils/mc_log_ui] It is now possible to extract some keys from a log (#209)
  • [mc_control] Added a multi-robot aware init method for mc_control::MCGlobalController (#206)
  • [mc_control] Added a reset method for mc_control::MCGlobalController (#206)
  • [mc_control] alphaOut (command velocity) and alphaDOut (command acceleration) are now logged by default (#222)
  • [mc_control_fsm] API have been added to allow writing FSM tools (#222)
  • [mc_rtc] Added mc_rtc::ConfigurationFile to simplify save/reload of configuration files (#222)
  • [mc_tasks] MetaTask now has an iterInSolver method (#200)
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