v0.6.0

major changes:

• robot configuration is done via python scripts instead of yaml
• new qpsolvers: qpswift and qpalm
• added tool precompute to compute self collision matrix
• casadi wrapper is object oriented

v0.5.0

added MPC for smoother trajectories
added gurobi support, a faster QP solver
new ros interface:

• the whole world is a single tree now, groups can be defined for branches for easier manipulation
• goals can only be sent via json interface

v0.4.1

minor fixes

v0.4.0

Supports both ROS noetic and melodic.
Last version that will support melodic.

What's Changed

• Devel by @kahlering in #63
• fix wrong joint state after calculating collision matrix by @kahlering in #64
• Add observer for joint limits by @artnie in #55
• refactored joint_limits_observer.py by @kahlering in #65
• publish world objects in attached_tf_publisher by @kahlering in #66
• Trajectory splitter fix by @ichumuh in #69
• Noetic devel by @ichumuh in #70
• Add class CartesianPositionStraight by @J-Schaefer in #60
• Noetic compatibility by @rhaschke in #71
• Plugin World Visualization with Markers by @tlipps in #72
• Shaking Constraint by @tlipps in #73
• Pyyaml Imports by @tlipps in #76
• Config Loader: convert strings in floats if possible by @tlipps in #79
• World Visualization Bug Fix If Objects Removed/Attached by @tlipps in #80

New Contributors

• @rhaschke made their first contribution in #71

Full Changelog: v0.3.0...v0.4.0

v0.3.0

Last version to only work with ROS melodic. Used in SUTURO 20/21.

What's Changed

• Py trees by @ichumuh in #19
• joint goal publisher by @kahlering in #21
• test_attached_collision2 by @kahlering in #22
• bug fixes by @ichumuh in #23
• visualization for rviz by @kahlering in #24
• dependency check by @kahlering in #25
• Devel by @ichumuh in #26
• Slerp by @ichumuh in #27
• added logging by @kahlering in #28
• added joint goal splitter by @kahlering in #29
• joint goal splitter arbitrary amount of clients by @kahlering in #30
• Speedupdate by @ichumuh in #32
• Constraint update by @kahlering in #33
• Constraint update by @ichumuh in #34
• Collision avoidance from multiple objects by @ichumuh in #35
• Casadi by @ichumuh in #36
• Devel by @ichumuh in #38
• real hsr base movement launchfiles by @kahlering in #31
• Self collision update by @ichumuh in #39
• Better convergance, casadi and new collision avoidance by @ichumuh in #40
• Devel by @ichumuh in #41
• Devel by @kahlering in #43
• Acceleration by @ichumuh in #44
• improved logging by @kahlering in #45
• implemented check if goal was reached by @kahlering in #48
• better plot formatting by @kahlering in #49
• included hard constraints in joint constraints by @kahlering in #50
• cleaned up parse_constraints by @kahlering in #51
• Boxy Update by @artnie in #53
• Add types to gitignore by @J-Schaefer in #57
• Merge open_drawers into open_doors by @J-Schaefer in #58
• added a tree manager for the py_tree by @kahlering in #56
• Open doors by @ichumuh in #59
• dump_state service dump python code by @kahlering in #61
• Devel by @ichumuh in #62
• fixed bug with negative angle_goal and adjusted action server names i… by @cl200008 in #75
• PR: Merging SUTURO Giskard master changes into SemRoCo Giskard master by @cl200008 in #82

New Contributors

• @cl200008 made their first contribution in #75

Full Changelog: v0.2...v0.3.0

2. Durchschuss

Complete rework of giskard. Supports combinations of joint and cartesian movements while avoiding collision with an internal world model.

1. Durchschuss

v0.1

small bugfix