Release v2.12.0

Added

• [cmake] Add AUTOLOAD setting to the add_plugin macro to enable autoload (#436)
• [mc_rbdyn] Add addForceSensor to Robot (#433/#434)

Changes

• [cmake] The add_plugin macro no longer defaults to AUTOLOAD=ON (#436)

Fixes

• [cmake] Uninstall autoload files when plugin autoload option is disabled (#436)
• [mc_control] Trim autoload files so they can be edited manually (#436)
• [mc_rbdyn] Fix a bug in addBodySensor (#433)

Release v2.11.0

Added

• [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431)
• [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425)
• [mc_rtc] Add path helpers (#431)
• [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431)

Changes

• [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430)

Fixes

• [mc_rbdyn] Always use default_attitude to initialize the attitude (#424)
• [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask

Release v2.10.0

Added

• [mc_control] Support for renaming the main robot via the configuration (#423)
• [mc_rbdyn] Add addBodySensor to mc_rbdyn::Robot (#419)
• [mc_rtc] Add support for any fixed size vector to Schema (#422)
• [mc_rtc] Add std::map<std::string, T> support in Schema (#412)
• [mc_solver] Add support for inactive joints in a collision (#416)

Fixes

• [StabilizerTask] Fix disabling when the robot is in the air (#411)

Release v2.9.3

Added

• [mc_bin_utils] Add an option to show the initial configuration of the robot
• [mc_bin_utils] Add an option to show the calibration data used by the robot

Fixes

• [mc_control] Correctly resume logging on reset
• [mc_control/FSM] Only start the idle state on the first reset
• [Replay] Only remove robots published by the controller
• [StabilizerTask] Use a non-throwing variant of Robot::zmp
• [utils/mc_log_ui] Stop the animation before saving it

Release v2.9.2

Fixes

• [ROS] Correctly initialize ros2
• [ROS2] Publish description and parameters as topics rather than parameters

Release v2.9.1

Fixes

• [debian] Package dependency fix in Jammy and later releases
• [cmake/ROS] Do no let ament intefere with the uninstall target

Release v2.9.0

Added

• [mc_rtc] Added beta version of mc_rtc::Schema (#396)
• [mc_rtc] Logs now contain the initial configuration of the robot (#398)
• [mc_rtc] Logs now contain the force sensors' calibration parameters (#398)

Fixes

• [debian] Fix the ros-@ROS_DISTRO@-mc-rtc-plugin package in ROS2
• [Replay] Use new information in the logs to improve replay accuracy (#398)
• [utils/mc_log_ui] Fix comparison loading in Python 3

Release v2.8.0

Added

• [mc_control] Added motor status to joint sensor (#395)
• [mc_control/FSM] Posture tasks' reset can be disabled (#389)
• [mc_rtc/Configuration] Added support for std::variant (#393)
• [mc_rtc/Configuration] Added Configuration::find (#393)
• [mc_rtc/GUI] Added form elements to provide more complex forms (#394)

Changes

• [mc_control/FSM] FSM embedded in a Meta state no longer reset the posture at transition by default (#389)

Fixes

• [mc_observers] KinematicInertial uses the correct function from state-observation (#391)
• [mc_solver] Fix a crash in monitor activation
• [mc_tvm] Correctly include refAccel in Orientation|PositionFunction

Release v2.7.0

Added

• [bindings] Add bindings for ControllerClient (#384)
• [mc_rtc] Allow to override existing log entries (#383)
• [mc_rtc] Allow "chunky" XY plot updates (#386)
• [mc_solver] ConstraintSet now has an update mechanism (#381)
• [Samples: CoM] Support the Pepper robot

Changes

• [StabilizerTask] Improve force distribution and CoP horizon reference (#375)
• [mc_rbdyn] Convex objects are now automatically updated (#385)
• [mc_solver] Collision constraint automatically display distance arrows when the distance falls below the interaction distance (#381)

Fixes

• [bindings] Fix build for Cython >= 3.0.0
• [cmake] Fix issue with yaml-cpp >= 0.8.0
• [mc_control] Fix logging of plugin performances (#383)
• [mc_observers] KinematicInertial uses function from state-observation (#388)
• [mc_rbdyn] Fix loading of devices with canonical robots (#379)
• [mc_rbdyn] Fix compilation with geos >= 3.12.0
• [Replay] Fix output replay on fixed-based robots
• [Replay] Avoid precision issue when comparing controller timestep with replay timestep

Release v2.6.0

General

This release is the first to support ROS2. Packages are provided for the ROS2 iron distribution under Ubuntu Jammy.

Added

• [mc_control] FSM's state output can be set from a PythonState
• [mc_observer] Add general configuration files and robot-specific configuration files for observers (#373)
• [mc_rtc] It is now possible to log arbitrary fixed size vectors (#369)
• [mc_solver] Allow to select active joints in CoMIncPlaneConstr (#374)

Changes

• The mc_observers physical library has been removed. The symbols are now part of the mc_control library. For backward compatibility purposes, the mc_rtc::mc_observers target is still available.

Fixes

• Avoid a crash when switching between two Python states (#372)