gazebo-yarp-plugins v4.7.0

[4.7.0] - 2023-06-05

Changed

• The gazebo_imu plugin used to output orientation measurements as if the sensor was zero-aligned with the world frame, regardless of the initial orientation of the part the sensor is attached to. To match most real-world IMUs, the default behavior was changed to allow measuring orientation with regard to the world frame at all times. The old behavior can be restored by setting the useInitialSensorOrientationAsReference config option (#639).
• The gazebo_yarp_controlboard plugin is compiled using C++ 20 compiler features (#650).
• The BaseCouplingHandler::decoupleVelRef() methods within gazebo_yarp_controlboard provides an input argument containing the full joints position feedback, to be used to implement velocity decoupling laws that depend on the joints position.

Fixed

• Fix wrong install include for gazebo_yarp_lib_common library (#644).
• Fix wrong implementation of coupling handlers of ergoCub MK5 hands within the gazebo_yarp_controlboard plugin (#650).