gazebo-yarp-plugins v3.6.0

[3.6.0] - 2021-02-24

Added

• Add refSpeed and refAcceleration options to the TRAJECTORY_GENERATION group of the gazebo_yarp_controlboard plugin
  configuration. They are expected to hold exactly n_joints values (an error is reported otherwise) describing reference speeds
  and accelerations, respectively, for use by the selected trajectory generator (if necessary).
• Add trapezoidal_speed as a new supported value for option trajectory_type of the gazebo_yarp_controlboard plugin
  configuration. This generator enables the trajectory to follow a trapezoidal speed profile in position control mode, limited
  by provided reference speed (saturation) and acceleration (both ramps) values. If already executing a trajectory in this manner,
  newly generated trajectories take into account previous joint velocities and update the motion accordingly.
• Add gazebo_yarp_robotinterface plugin, the documentation for it can be found at plugins/robotinterface/README.md (#532).
• The gazebo_yarp_depthcamera and gazebo_yarp_doublesensor now accept a yarpDeviceName parameter (#532).

Changed

• The deviceId parameter of the gazebo_yarp_lasersensor is now named yarpDeviceName )#532).

Fixed

• Fix the support for running Gazebo itself with the gazebo_yarp_clock with YARP_CLOCK set, without Gazebo freezing at startup.
  In particular, setting YARP_CLOCK is suggested to ensure that all the threads of YARP Network Wrapper Servers are executed with
  the frequency correctly synchronized with the Gazebo simulation (#537).