Merge remote-tracking branch 'origin/release-1.0.0'

CHANGELOG.rst

@@ -1,3 +1,9 @@
+1.0.0 (2014-5-1)
+---------------------------------
+- Updates rosinstall to use https repo checkouts (no SSH keys required)
+- Updates baxter.sh to support 'sim' (local) environment settings argument
+- Verbose baxter.sh run location and shell status
+
 0.7.0 (2013-11-21)
 ---------------------------------
 - The baxter repository replaces sdk-examples. This package contains metapackages and files for installation of the 'broken out' sdk repository structure.

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2013, Rethink Robotics
+Copyright (c) 2013-2014, Rethink Robotics
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.rst

@@ -8,17 +8,17 @@ This repository contains metapackages and files for installation/use of the Baxt
 Installation
 ------------
 | Please follow the Getting Started wiki page for instructions on installation of the Baxter SDK:
-| https://github.com/RethinkRobotics/sdk-docs/wiki/Installing-the-Research-SDK
+| http://sdk.rethinkrobotics.com/wiki/Workstation_Setup
 
 Code & Tickets
 --------------
 
 +-----------------+----------------------------------------------------------------+
-| Documentation   | https://github.com/RethinkRobotics/sdk-docs/wiki               |
+| Documentation   | http://sdk.rethinkrobotics.com/wiki                            |
 +-----------------+----------------------------------------------------------------+
 | Issues          | https://github.com/RethinkRobotics/baxter/issues               |
 +-----------------+----------------------------------------------------------------+
-| Contributions   | https://github.com/RethinkRobotics/sdk-docs/wiki/Contributions |
+| Contributions   | http://sdk.rethinkrobotics.com/wiki/Contributions              |
 +-----------------+----------------------------------------------------------------+
 
 Baxter Repository Overview
@@ -50,4 +50,4 @@ Other Baxter Repositories
 Latest Release Information
 --------------------------
 
-https://github.com/RethinkRobotics/sdk-docs/wiki/Release-Changes
+http://sdk.rethinkrobotics.com/wiki/Release-Changes

RELEASE.rst

@@ -1,7 +1,7 @@
-Rethink Robotics SDK 0.7.0 Release Notes
+Rethink Robotics SDK 1.0.0 Release Notes
 ========================================
 
-Date: 11/21/2013
+Date: 5/1/2014
 
 Overview
 ------------
@@ -11,83 +11,79 @@ applications to run with the Baxter Research Robot.
 
 
 See our wiki for more information:
-https://github.com/RethinkRobotics/sdk-docs/wiki
-
+http://sdk.rethinkrobotics.com/wiki
 
 Update Instructions
 -------------------
 
-https://github.com/RethinkRobotics/sdk-docs/wiki/Software-Update
+http://sdk.rethinkrobotics.com/wiki/Software_Update
 
 Changes Wiki Page
 -------------------
 
-https://github.com/RethinkRobotics/sdk-docs/wiki/Release-Changes
+http://sdk.rethinkrobotics.com/wiki/Release_Changes
 
 Major Updates
 -------------
 
-* Now publicly available!
-* Joint torque control
-* Gazebo Support
-* Joint position accuracy improvements (factor of 10)
-* ROS Groovy on robot
-* ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
-* Catkinization of SDK
-* SDK reorganization into standalone metapackages, multiple repositories
-* Ability to set speeds of joint position command execution
-* Ability to specify gripper/object mass for custom grippers
+* SSH access to the robot! Compile and run custom software on the robot
+* New user editable wiki (http://sdk.rethinkrobotics.com/wiki)
+* New 'raw' joint position control mode, command joint positions directly to JCBs
+* Dynamic URDF loading of robot internal model to the parameter server
+* Inverse kinematics service seeding ability
+* Bootable demo mode
+* Joint trajectory action server spline fitting, more accurate trajectory execution
+* Full interface compatible Gazebo support
+* Rosbridge
+* Debian installation availability
+* New joint position waypoints example program
+* Advanced network configuration options
+* Custom gripper state/property publication, ability to emulate Rethink grippers
 
 Additions
 ---------
 
-* Joint torque control
-* Gazebo Support
-* Ability to set speeds of joint position command execution
-* Ability to specify gripper/object mass for custom grippers
-* Introduction of baxter_core_msgs and baxter_maintenance_msgs (formerly baxter_msgs)
-* Convenient catkin environment initialization script baxter.sh (formerly init.sh)
-* ROS/network configuration display in tty3 of the robot
-* Gripper Cuff control example
-* Ability to reset cameras (re-enumerate if not listed at startup)
-* Gripper Action Server and example program
-* Gripper control in joint trajectory playback example
-* Gripper cuff control in joint recorder
-* Ability to disable arm-to-arm collision avoidance
-* Ability to disable cuff zero-g interaction
-* Ability to disable gravity compensation
-* Launch files for action server/joystick examples
-* Boot animation
-* rosbags of /diagnostics in FTP Logs
-* All (rosrun) examples now include -h (help) argument/description
+* SSH access to the robot
+* New user editable wiki (http://sdk.rethinkrobotics.com/wiki)
+* Dynamic URDF loading of robot internal model to the parameter server
+* Rosbridge
+* Demo mode
+* 'Raw' joint position control mode, command directly to the JCBs
+* Software version compatibility verification
+* Debian installation
+* Advanced network and ROS environment configuration options (static IP, ROS master naming type, etc.)
+* Joint position waypoints example
+* Ability to stop, start, reboot robot software
+* URDF accelerometer, display links and joints
+* URDF Gazebo plugins for cameras, display, sonar, IR range sensors, accelerometers
+* Gripper assembly meshes
+* Second generation pneumatic gripper meshes
 
 Removals
 --------
 
-* baxter_msgs (now baxter_core_msgs, baxter_maintenance_msgs)
-* rosbuild support
-* joystart scripts (now replaced with roslaunch files)
-* init.sh (now replaced with baxter.sh for catkin environments)
+* baxter_maintenance_msgs LSCores and RMCores services
 
 Changes
 -------
 
-* ROS Groovy on robot
-* Joint position accuracy improvements (factor of 10)
-* ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
-* SDK reorganization into standalone metapackages
-* Catkin/Bloom standard package reorganization
-* Limb joint commands now single message - reflected in limb interface
-* Major gripper rewrite to support more advanced usage and future custom grippers
-* ROS logging cleanup for console, diagnostics use.
-* More explicit error messages
-* Improved verbosity/standardization of help output
-* DigitalIO state_changed signal/slot and read-only state property (no longer callable)
+* Inverse kinematics service seeding ability
+* Joint trajectory action server spline fitting, more accurate trajectory execution
+* Full interface compatible Gazebo support
+* All examples and tools verify software version compatibility
+* Command timeout no longer disables robot, reverts to position mode holding current
+* Sourceable baxter.sh script
+* 'sim' baxter.sh argument
+* https rosinstall repository checkouts (no SSH keys required)
+* Gripper class hardware_version to hardware_name
 
 Fixes
 -----
 
-* Tuck arm improvements to handle ctrl-c and partial tucks
+* Limb tcp_nodelay transport hint for joint states, endpoint state, and joint commands
+* Ability to command subset of joints in torque and velocity control modes
+* Head nod incorrect wait_for validation
+* Update_robot timeout waiting for available updates
 
 Known Issues
 ------------

baxter.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Copyright (c) 2013, Rethink Robotics
+# Copyright (c) 2013-2014, Rethink Robotics
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -33,6 +33,9 @@
 # should be executed with every new instance of a shell in which you plan on
 # working with Baxter.
 
+# Clear any previously set your_ip/your_hostname
+unset your_ip
+unset your_hostname
 #-----------------------------------------------------------------------------#
 #                 USER CONFIGURABLE ROS ENVIRONMENT VARIABLES                 #
 #-----------------------------------------------------------------------------#
@@ -66,23 +69,28 @@ else
 fi
 
 # If argument provided, set baxter_hostname to argument
-# If argument is sim, set baxter_hostname to localhost
+# If argument is sim or local, set baxter_hostname to localhost
 if [ -n "${1}" ]; then
-	if [[ "${1}" == "sim" ]]; then
+	if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
 		baxter_hostname="localhost"
+		if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
+		[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
+			your_hostname="localhost"
+			your_ip=""
+		fi
 	else
 		baxter_hostname="${1}"
 	fi
 fi
 
-topdir=$(basename $(dirname $(readlink -m ${0})))
+topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
 
 cat <<-EOF > ${tf}
 	[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
 	[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
 
 	# verify this script is moved out of baxter folder
-	if [[ "${topdir}" == "baxter" ]]; then
+	if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
 		echo -ne "EXITING - This script must be moved from the baxter folder \
 to the root of your catkin workspace.\n"
 		exit 1
@@ -117,7 +125,7 @@ variable to reflect your current IP address.\n"
 	if [ -n ${your_hostname} ] && \
 	[[ "${your_hostname}" == "my_computer.local" ]]; then
 		echo -ne "EXITING - Please edit this file, modifying the \
-'your_hostname' variable to reflect your current IP address.\n"
+'your_hostname' variable to reflect your current PC hostname.\n"
 		exit 1
 	fi
 
@@ -177,7 +185,7 @@ has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
 		if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
 			eval \${__ORIG_PROMPT_COMMAND}
 		fi
-		if ! echo \${PS1} | grep 'baxter' &>/dev/null; then
+		if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
 			export PS1="\[\033[00;33m\][baxter - \
 \${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
 		fi
@@ -186,7 +194,7 @@ has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
 	if [ "\${TERM}" != "dumb" ]; then
 		export PROMPT_COMMAND=__ros_prompt
 		__ROS_PROMPT=1
-	elif ! echo \${PS1} | grep 'baxter' &>/dev/null; then
+	elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
 		export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
 	fi
 

baxter_sdk.rosinstall

@@ -1,20 +1,20 @@
 - git:
     local-name: baxter
-    uri: git@github.com:RethinkRobotics/baxter.git
+    uri: https://github.com/RethinkRobotics/baxter.git
     version: master
 - git:
     local-name: baxter_interface
-    uri: git@github.com:RethinkRobotics/baxter_interface.git
+    uri: https://github.com/RethinkRobotics/baxter_interface.git
     version: master
 - git:
     local-name: baxter_tools
-    uri: git@github.com:RethinkRobotics/baxter_tools.git
+    uri: https://github.com/RethinkRobotics/baxter_tools.git
     version: master
 - git:
     local-name: baxter_common
-    uri: git@github.com:RethinkRobotics/baxter_common.git
+    uri: https://github.com/RethinkRobotics/baxter_common.git
     version: master
 - git:
     local-name: baxter_examples
-    uri: git@github.com:RethinkRobotics/baxter_examples.git
+    uri: https://github.com/RethinkRobotics/baxter_examples.git
     version: master

baxter_sdk/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>baxter_sdk</name>
-  <version>0.7.0</version>
+  <version>1.0.0</version>
   <description>
     baxter_sdk metapackage containing all of the SDK packages
     for the Baxter Research Robot from Rethink Robotics.