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CHANGELOG.md

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Change log

1.7.1 (2019-07-04)

  • API changes:
    • None
  • Deprecated features:
    • None
  • New features:
    • None
  • Bug fixes:
    • Fixed joint velocity abs bug in GC controller: jhu-dvrk#117

1.7.0 (2019-04-09)

  • API changes:
    • Using c++ 14 features: Ubuntu 16.04 or higher required
  • Deprecated features:
    • kinematic field in JSON console config file has been replaced by arm for MTMs to support gravity compensation (see New features)
  • New features:
    • Added gravity compensation for the MTM. Contribution from CUHK. Thank you!
    • Support for multiple teleop components per MTM or PSM (ee issue #97)
      • Using the console, operator can use a "clutch" quick tap to toggle between PSMs.
      • Using ROS topics, programs can select which pairs to activate or de-activate.
    • TeleopPSM: added options to disable jaw on PSM side
    • Teleop Qt widgets: use prmPositionCartesianGet widget
    • Arms: added set ratio velocity and acceleration to control max velocity used in joint tractories
  • Bug fixes:
    • Console:
      • Throttle error messages
      • Fixed Coag digital input when operator present is using a different input
      • Fixed valid/timestamp for head sensor events
    • Arms:
      • Fixed valid/timestamp for jaw/gripper joint states
      • Fixed PSM jaw transitions between servo and move modes (see issue #112)
      • Removed reference to deprecated mtml.json and mtmr.json in configuration files (see issue #106)

1.6.0 (2018-05-16)

  • API changes:
  • Deprecated features:
    • Fixed reference frames to match ISI convention on real da Vinci systems. mtml.json and mtmr.json are now deprecated
    • In arm JSON configuration files, do not use base-offset. Use console JSON configuration base-frame instead
    • Teleop PSM/ECM JSON: rotation is now moved under configure-parameter
    • Standard (i.e. not system specific) IO XML configuration files moved to share/io folder. Console class will search in share/io so this should be backward compatible
  • New features:
    • Teleoperation ECM:
      • First working implementation, tested on JHU system
      • Use structs for MTMR/L and ECM instead of pointers
    • Teleoperation PSM:
      • Match gripper/jaw angle before starting teleoperation
      • Use structs for MTM and PSM instead of pointers
      • Added option to ignore jaw in PSM if MTM doesn't have a gripper (e.g. Falcon)
    • General:
      • Fixed interval statistics with better load estimation, updated Qt widget
      • Fixed 3D rotation widget, show reference frame and allow to rotate view with mouse
      • Transformation Qt widget now shows moving/reference frame names, valid/invalid flag and timestamp
    • Console:
    • Arm:
      • Added relative position commands in joint and cartesian space
      • Console JSON configuration file, added base-frame with static transformation and name of reference frame for each arm
      • For all cartesian velocities/twist, added name of moving frame
      • PSM: added set_effort_jaw command, this can be along with set_effort_joint or set_wrench on PSM
    • SUJ:
      • Better/faster propagation of base frames
      • Added simulation mode, can set joint values using ROS topic
      • Removed "desired" position, all positions are "measured"
      • Joint names are now compatible with WPI ROS/urdf models
    • ROS:
      • Added tf2 support
      • Created multiple ROS bridges, publishers, subscribers, tf2 and cisst/SAW period stats (custom message), much faster processing of subscribers
      • Initial support for crtk topics
    • sawRobotIO1394:
      • New velocity estimation on FPGA with firmware rev 6, improved PID and cartesian impedance controllers
      • Software will not allow firmware different from 4, 5 or 6. 6 is recommended
      • If pot/encoder tolerance distance is set to 0, ignore axis in safety checks
      • Code refactor to reduce number of classes and ease maintenance
  • Bug fixes:
    • Fixed data member initialization (valgrind)

1.5.0 (2017-11-07)

  • API changes:
    • Console: watchdog default changed to 30 ms. The default can be overridden in console.json file.
    • Arm: SetRobotControlState has been removed, use SetDesiredState and GetDesiredState/GetCurrentState commands along with DesiredState/CurrentState events
    • Arm: no need to set a new state to switch control mode (position/cartesian position/goal/effort)
    • Arm: joint states size is now based on number of joints used for kinematics. Gripper (PSM) and jaw (MTM) are reported using a different joint state command/topic
    • Console: digital inputs/outputs not specific to an arm are now defined in a different file. All sawRobotIO1394-{PSM,ECM,MTM} XML config files need to be updated!
  • Deprecated features:
    • Arm: removed hard coded pot tolerance per arm type. Now uses sawRobotIO XML file to save settings per arm and implementation uses time instead of iteration counter.
  • New features:
    • New dVRK logo: https://github.com/jhu-dvrk/dvrk-logo/blob/master/dVRK-blue-05-04-2017-01.png
    • Arm:
      • New current calibration procedure, reduces current offset and undesired torques when request current is zero. Please regenerate your sawRobotIO configuration files!
      • Use mtsStateMachine to better control initialization and homing, now manages desired vs. current state
      • States for each control mode have been removed, the mode will be automatically set when receiving a new move command
      • Control modes have been added (space: actuator/joint/cartesian/user and mode: position/trajectory/effort/user) instead of states
      • Control mode for user implementations in derived classes can be set using SetControlCallback
      • Use Reflexxes for trajectory generation. Can now interrupt existing trajectory using current velocity instead of resetting to 0. Dropped use of robLSPB
      • Cartesian impedance controller has been added to all arms. Very useful for simple haptic feedback on MTMs. Some examples are available in dvrk-ros.
      • When using firmware 6, use velocity estimation from controller (much better timestamps and estimation)
      • Uses new standardized mtsMessage for Qt messages and ROS log
    • PSM:
      • Added support for 5mm tools (snake-like tools)
      • For 5mm tools, joint state has 8 joints
      • Added IK with equality constraints to support 5mm tools
      • Added implementation for tool specific torque limits (loaded from psm-xyz.json)
      • Added general purpose socket base protocal to communicate with PSM
      • In psm-_.json, no need to provide all coupling matrices, just need the actuator to position
    • MTM: Homing is now slower to prevent hard hits on roll joint. Also just looking for lower limit instead of both lower and upper limits
    • Teleop PSM:
      • Added support for alternate master arm (sawForceDimensionSDK)
    • Console:
      • Added support for dynamic loading of external cisst/SAW components (e.g. sawKeyboard, sawForceDimensionSDK, sawSensablePhantom)
      • Support for alternate foot pedals (keyboard) and master arms (Novint Falcon, ForceDimension)
      • Separated configuration files for digital inputs/outputs from arm configuration files (see API changes)
      • Uses new standardized mtsMessage for Qt messages and ROS log
    • Console Qt:
      • Added tag/clear shortcuts in message window
      • Can power all arms without homing, this allows to test safety chain and pot/encoders without PID on
    • SUJ:
      • use state machine compatible with other arms
      • now reports joint values even if the arm is not in state "READY"
      • minor updates for firmware 6
      • use joint state instead or joint position
    • CMake:
      • Everything can now be compiled on Windows when using proper branch of sawRobotIO
    • ROS:
  • Bug fixes:
    • Fixed loading joint coupling matrix when the arm is started with a tool in place
    • Fixed jumps at homing and control mode transitions with rewritten PID component

1.4.0 (2016-08-31)

  • API changes:
  • Deprecated features:
    • Arm modes DVRK_GRAVITY_COMPENSATION and DVRK_CLUTCH will be deprecated in next release, use DVRK_EFFORT_CARTESIAN with commands to turn gravity on/off, lock orientation instead (see example in mtsTeleOperationPSM.cpp)
    • MTM: removed SetWrench method, use SetWrenchBody or SetWrenchSpatial instead
  • New features:
    • Arm:
      • Jacobian body and spatial now stored in state table and accessible via provided interface (array ROS topics)
      • Compute an estimated wrench at tooltip using current feedback converted to joint torques and jacobian body inverse (wrench ROS topic)
      • PSM and ECM don't move when powered on
      • All arms JSON configuration now support base-offset
      • Added command SetBaseFrame and equivalent ROS topic (set_base_frame)
    • PSM:
      • Added JSON configuration file for pro grasp tool
      • Reduced PID gains to increase stability across system (NOTE: make sure you don't use an old PID file)
      • Added command (and ROS topic) to force SetToolPresent (used to test tools without wiring/chip on the back)
    • MTM:
      • Added JSON configuration files for MTM left and right to use stereo display coordinate system
      • Fixed orientation lock, added command to set desired lock orientation
    • Teleop PSM:
      • Uses new mtsStateMachine class
      • Checks that PSM and MTM are in proper state
      • Checks that PSM and MTM are properly aligned, issues warning messages in console when not aligned
    • Console:
      • Added option in configuration file to set FireWire protocol, can significantly improve performance on some systems! See firewire-protocol in file formats wiki page (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/FileFormats)
      • Better support for derived teleop components (both PSM and ECM)
      • Manages state transition for teleop PSM/ECM and user events
      • Added search path to avoid absolute directories in console JSON configuration files, now searches in current directory, directory of console file being loaded and then sawIntuitiveResearchKit/share. This allows to find shared files (PID, kinematics) without copying them around or specifying a full/relative path
      • Default period for arm is now 1.0 ms, for IO/PID 0.3 ms (you should remove all period from your console JSON config files).
    • Console Qt:
      • Keep console widget/log visible on left/bottom, top/right used for IO, PID, Arm widgets in sub tabs
      • Added widget to set scale for all teleop components
      • Added keyboard shortcuts for basic commands (ctrl+H: home, ctrl+O: power off, ctrl+T: start teleop, ctrl+S: stop teleop)
      • Temporary logo for the dVRK
    • SUJ:
      • Ongoing fixes for dSIB rev 3
      • Uses both sets of potentiometers
      • Checks that both sets of potentiometers agree and issues warning messages
    • CMake: separated components from applications/examples (catkin build 0.4 compatible). Since directories have been moved around, all your build trees need to be removed/cleaned. For catkin build tool users, please clean using either catkin clean -a (older catkin build tools) or catkin clean --all (for all catkin versions supporting catkin --version, i.e. 0.4 and above).
    • ROS: sawIntuitiveResearchKit/share directory is now a ROS package so one can find configuration files using the package name dvrk_share
    • Added CISST_EXPORT. Who knows, we might compile this thing on Windows one day...
  • Bug fixes:
    • Data passed from IO to PID to arm doesn't get re-timestamped to preserve original timestamp
    • Arm: fixed computation of cartesian velocities using proper jacobian (twist ROS topic)
    • ECM: fixed inverse kinematics

1.3.0 (2016-01-08)

  • API changes:
    • PSM: new file format (.rob replaced by .json with DH, coupling, limits, ...)
    • Added SetSimulated for all arms/PID for kinematic simulation (assumes perfect PID)
    • Console: better support for derived/simulated classes for ECM, PSM and MTM
  • Deprecated features:
    • None
  • New features:
    • PSM: improved engage procedure for sterile adapter and tool (uses trajectory generator)
    • PSM: increased PID gains significantly now that engage uses trajectories
    • PSM: when homing, do not go to zero position if tool is present
    • PSM: move sterile adapter all the way up when engaged
    • PSM: doesn't engage tool is tip is outside cannula
    • MTM: search for joint limits only first time it is homed (need to restart application to search again)
    • Added procedure to calibrate potentiometers, requires ROS build
    • Added SetWrench body/spatial on MTM/PSM with ROS topics, mode DVRK_EFFORT_CARTESIAN
    • SUJ: added JSON field to set brake current
  • Bug fixes:
    • More stable bias encoder from pots, uses multiple samples
    • Matlab config generator: selecting MTML didn't update IO and directions (#52)

1.2.0 (2015-10-18)

  • API changes:
    • Fixed digital input bug for state pressed. Need to regenerate XML IO configuration files!
    • New PID has improved velocity estimation. Need to use new PID XML files or at least update user files!
  • Deprecated features:
    • None
  • New features:
    • Console class can now be configured using json file for arms/teleops
    • Single program can be used for different console configurations, including for Qt widgets
    • Preliminary support for SUJ (using alpha version of dSIB)
    • Added support for base frame and commands to retrieve cartesian wrt arm base or base frame (for SUJ)
  • Bug fixes:
    • Matlab config generator has been updated to create proper digital input "pressed" values
    • Matlab config generator forces to pick arm type, was generating improper joint directions on MTML
    • Use new velocity estimation, PID gains are now independant of periodicity
    • Fixed bugs in close/open grippers
    • PID configuration files now use joint name matching ROS/urdf files (in dvrk-ros)
    • PSM inverse kinematics now enforces tool can't go back in cannula

1.1.1 (2015-05-15)

  • API changes:
    • None
  • Deprecated features:
    • None
  • New features:
    • None
  • Bug fixes:
    • Removed duplicate method Configure in MTM (base class Arm method is used)
    • PSM: increased pots to encoder tolerance during homing
    • Gripper calibration example: added code to preload encoders to avoid encoder bit overflow

1.1.0 (2015-04-28)

  • API changes:
    • SI units (meters) instead of millimeters are now used for all translation joints (ECM and PSM joint 3). Cartesian positions were always based on SI. .rob files were already meter based. Users need to pay attention to:
      • PID gains. We provided new PID configurations files for all arms but if you have old tuned gains for your system, you will need to increase them.
      • ROS joint topics. If you used the ROS bridges, all joints were reported in millimeters. MORE IMPORTANTLY, all joint commands for PSM and ECM translations were assumed to be in millimeters. A move by 1 meant 1 millimeter. It now means 1 meter!
    • Programmers using distances in the code should use the cmn_mm constant (e.g. double tolerance = 1.0 * cmn_mm;)
    • When building sawIntuitiveResearchKit, you must have cisst configured with CISST_USE_SI_UNITS.
    • Joint 7 on PSM is now referred to as "jaw", e.g. SetPositionJaw instead of angle or gripper. On MTM, the last joint is still called "gripper"
    • For all derived classes (ECM, MTM and PSM), the enum types used to encode states are now shared across arm types, you will need to replace the ECM, MTM or PSM prefix by DVRK (e.g. PSM_HOMING_POWERING is now DVRK_HOMING_POWERING).
    • In C++ implementation, events are now defined in different scopes, struct EventTriggers is now split into ClutchEvents, GripperEvents and MessageEvents.
  • Deprecated features:
    • None
  • New features:
    • A new base class has been introduced to share code between arm types: mtsIntuititiveResearchKitArm. The base class implements most of the homing procedure as well as most control modes. There is still some code duplicated in the derived classes that should be ported to the base class, mostly related to state management. We are considering the Boost MSM class for future revisions.
    • All arms now feature four control modes:
      • Joint direct: Arm must be ready. Commands are sent to PID directly.
      • Cartesian direct: Arm must be ready and tool (for ECM and PSM) is past cannula. Inverse kinematics is computed and new joints goal sent to PID.
      • Joint goal: Same pre-condition as direct joint but the robLSPB trajectory generator is called to make sure the robot moves smoothly to goal. An event is sent when trajectory ends.
      • Cartesian goal: Same pre-condition as direct cartesian but the inverse kinematic is calculated for current and goal positions then trajectory in sent as joint goal. NOTE: interpolation is performed in joint space.
    • Added commands to retrieve measured vs. desired positions, both for joints and cartesian.
    • Two new events have been added:
      • RobotState with payload std::string with the DVRK_xyz value corresponding to the current state.
      • GoalReached with payload bool to indicate if the trajectory has been fully executed.
    • The command SetRobotControlState can now accept std::string matching all possible state values using DVRK_xyz
    • The base class for all arms now has event handlers for PID errors (tracking and limits). If any error occurs, trajectories using LSPB are stopped and an event GoalReached(false) is sent to caller.
    • All components now have three events for health status:
      • Error, Warning and Status. All events have a std::string payload.
      • Most components used in the dVRK have been updated to act on error events (change to idle or safe state). There is no automatic recovery, i.e. the user has to initiate the recovery using GUI and/or ROS interfaces.
      • Errors currently handled:
        • IO level: loss of power, watchdog timeout, firewire errors, pots to encoders discrepencies, encoder bit overflow.
        • PID: tracking errors. Commands outside joint limits are treated as warning (values are clamped and an event with vector of booleans is sent to user). When receiving error event, disable PID.
        • Arm: when receiving error event, goes to idle mode. Need to re-home to use arm.
        • TeleOp: When error is caught or if positions are invalid (IsValid()), disables tele-op.
    • Console class is now connected to all IO, PID, arms and teleop components:
      • Catch error/warning and status messages from all components.
      • Idle button in Qt Widget allows to turn off all arms in software.
      • TeleOp button in Qt Widget allows to turn on all tele-op pairs.
    • Firewire communication now uses write broadcast by default when all FPGA-QLA boards have firmware 4.0 or higher. For N boards, reduces packets from N reads + N writes to N reads and 1 write. See sawRobotIO1394 for details.
    • Matlab XML config file generator now adds a -foot-pedal suffix to the generated config file so it's easier to see which controller is configured for the foot pedals.
    • ROS interfaces have been updated to take advantage of new events and commands (see dvrk-ros repository). Bridges can now be created in a more systematic way using the dvrk_utilities with the global functions dvrk::add_mtm_topics, ...
    • Tele-op:
      • Now handles error events and doesn't use cartesian positions for master/slave if marked as invalid
      • Updated GUI with messages, labels for master/slave, enable check button based on component state
  • Bug fixes:
    • Commands using the inverse kinematics now check the result of robManipulator::InverseKinematics.
    • Inverse kinematics for the ECM has been fixed.
    • Examples now build properly with catkin/ROS, i.e. they can be found in ROS path
    • For MTM, when calling inverse kinematics with "current" joint position (initial guess for optimization), set joint 5 to 0 instead of joint 3 to pi/4 to try to move the wrist platform away from the user's hand. The idea is to use the joint on top of the L bracket to move the L close to 90 deg off gripper.
    • For MTM, inverse kinematics uses closest modulus 2 pi position for last joint.
    • Encoders are now pre-loaded when the IO component starts.
    • IO level now checks encoder bit overflow.

1.0.1 (2015-01-30)

  • No change log file, initial release.