From b1b24619657125d5eb67e69a91b60f4c3b016847 Mon Sep 17 00:00:00 2001 From: Kyle Maroney Date: Thu, 24 Apr 2014 16:28:51 -0400 Subject: [PATCH] Updates baxter 1.0.0 RELEASE.rst --- RELEASE.rst | 98 +++++++++++++++++++++++++---------------------------- 1 file changed, 47 insertions(+), 51 deletions(-) diff --git a/RELEASE.rst b/RELEASE.rst index 113887b..e3b4e18 100644 --- a/RELEASE.rst +++ b/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 ------------