0.5.6 (2010-01-17)

• pr2_controller_manager

  • regression tests working with ros 1.0

0.5.5 (2010-01-15)

• pr2_controller_manager

  • make controller diagnostics consistent with joint and motor diagnostics
  • catch exceptions thrown in controller init method

• pr2_hardware_interface

  • update Doxygen documentation

0.5.4 (2010-01-14)

• pr2_controller_manager

  • add fields to controller statistics
  • diagnostics publishing updated

• pr2_mechanism_msgs

  • add fields to controller statistics

• realtime_tools

  • The RealtimePublisher now has an empty constructor and an init() method.

• pr2_mechanism_model

  • per ticket https://code.ros.org/trac/wg-ros-pkg/ticket/2949, gripper now reports gap size < 0. It however, restricts Jacobians to use encoder values >= 0 for velocity and effort calculations.

0.5.3 (2010-01-08)

• pr2_controller_manager

  • fix critical bug in yams spawning

0.5.2 (2010-01-07)

• pr2_controller_manager

  • spawner cleanup, remove xml spawning, fix shutdown behavior
  • spawner supports loading from yaml directly

0.5.1 (2010-01-05)

• pr2_controller_manager

  • add extensive set of regression tests (see <<Ticket(wg-ros-pkg 2971)>> for details)

  • fix bug when starting/stopping multiple controllers with invalid names
  • fix race condition when unloading controllers, which could result in publishing controller statistics for larger set of controllers
  • spawner cleanup

0.5.0 (2009-12-22)

• pr2_controller_interface

  • starting a controller cannot fail any more

• pr2_controller_manager

  • When motors are re-enabled (after the e-stop was pressed), all controllers that are running get restarted
  • Move parameters and services into controller_manager namespace
  • Warn when strictness of switch controllers is not specified

• Add tutorials on how to write controllers pr2_mechanism/Tutorials

• Document and doc-review all packages in the stack

0.3.0 (2009)

• Major changes and new features:

  • pr2_controller_manager

    • Add service pr2_mechanism_msgs/ReloadControllerLibraries to reload controller libraries. This makes it possible to leave the controller manager running while compiling, loading and testing new controllers.

  • pr2_mechanism_msgs

    • make applied/requested/commanded/measured effort/current consistent. See <<Ticket(wg-ros-pkg 3026)>>

• Minor changes and bug fixes:

  • pr2_controller_manager

    • rename spawner.py to spawner
    • change topic name back from "joint_state" to "joint_states"

  • pr2_controller_interface

    • Change signature of init method of controller: const NodeHandle& became NodeHandle&

  • pr2_mechanism_model

    • fix warnings in robot.h
    • The realtime recorder shouldn't be calling spin

  • pr2_hardware_interface

    • Remove unused current_ field from ActuatorCommand.

    • Add the latched topic 'motor_state', which contains a single boolean value 'halted'.

0.2.0 (2009)

• API review of pr2_controller_manager, pr2_controller_interface, pr2_mechanism_msgs, pr2_mechanism_model, pr2_hardware_interface, realtime_tools

• pr2_controller_manager

  • rename mech.py to pr2_controller_manager
  • change topic name from "joint_states" to "joint_state"
  • add service to reload libraries
  • replace spawn/kill with load/unload.
  • move diagnostics publishing to external nodes
  • rename parameters publish_rate_... to .._publish_rate

  • move action interface for switch controllers to the robot_actions package

• pr2_mechanism_model

  • JointState only contains real joints, no fixed joints

  • replace Joint model by urdf

• pr2_mechanism_msgs

  • rename JointState, ActuatorState, ControllerState, MechanismState to *Statistics

  • add time to all mechanism statistics messages
  • rename Spawn Kill to Load Unload

0.1.0 (2009)

• First release of the pr2_mechanism_stack