CHANGELOG.txt

# IIWA_STACK Changelog

## Version 1.2.5

#### New
* `NTP updates are now automatic`
* `Desired force accepts also negative force values (force toward the negative axis)`


#### Bug Fixes
* `Fixed joint velocity command mode`
* `Removed useless "iiwa_link_ee_kuka" frame from URDF`
* `Small fixes in the URDF: link misalignments, robot_name specific variables`
* `Small fixes and improvements`

## Version 1.2.0 (release date: 01.02.2016)

#### New
* `An approximation of the inertia parameters was added to the URDF of the iiwa7.`
* `Commanding in joint velocity available.`
* `Added a service to get the time left to reach the commanded destination and topic that publishes when the destination is reached.`
* `Moved the feature to change the joing velocity and acceleration to its own service.`
* `Refactored the code in iiwa_ros, now it provides wrappers for all the state/command messages and the service calls.`
* `Tested and workin on ROS Kinetic`

#### Bug Fixes
* `The online change of the joint velocity now works properly`
* `Got rid of minor compiler warning`
* `Got rid of the errors and most of the warning from Rviz and MoveIn in Kinect, some are left but they clash with Indigo atm.`

## Version 1.1.0 (release date: 26.08.2016)

Completely refactoring of the Java applications led to various improvements in terms of performance.

#### New
* `ConstantForce via SmartServo service`
* `Added JointPositionVelocity commands`

#### Bug Fixes
* `Tool selection from ROS param`
* `CartesianPose published from the robot now depends on the tool selected`
* `Fixed URDF xacro files`
* `ROSMonitor shouts down cleanly`

## Version 1.0.0
Initial release