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gazebo-yarp-plugins v3.5.1
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@traversaro traversaro released this 11 Oct 16:01
· 223 commits to master since this release
v3.5.1
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Learn about vigilant mode.

[3.5.1] - 2020-10-05

Added

  • Add velocityControlImplementationType option to the VELOCITY_CONTROL group of the gazebo_yarp_controlboard plugin
    configuration. This option permits to switch between direct_velocity_pid, that is using a velocity PID for the Velocity Control Mode
    (what has been implemented until now) and integrator_and_position_pid that uses an integrator that integrates the velocity reference and then uses the position low level PID, similarly to what is implement on real YARP-powered robot such as iCub or R1.
    The setting is now optional and if not present will default to direct_velocity_pid, but it will be compulsory in
    gazebo-yarp-plugins 4.x (#514).

Fixed

  • Fixed use of the VOCAB_CM_MIXED control mode when the physics timestep is different from 1 millisecond (#514).
  • Fixed missing initialization of a pointer in gazebo_yarp_controlboard . In some cases this was causing crashes when a model that contained a gazebo_yarp_controlboard
    plugin was removed from the simulation (#514).
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