gazebo-yarp-plugins v4.5.0

[4.5.0] - 2022-08-23

Added

• The gazebo_yarp_forcetorque plugin now exposes also the yarp::dev::ISixAxisForceTorqueSensors interface, so it can be used with multipleanalogsensorsserver, multipleanalogsensorsremapper and multipleanalogsensorsclient devices (#384, #628).

Fixed

• Fix YARP 3.8 compatibility (#627).

gazebo-yarp-plugins v4.4.0

[4.4.0] - 2022-05-31

Fixed

• Removed implicit conversions from the depth data quantization in GazeboYarpDepthCameraDriver::getDepthImage which in at least one occasion caused an unexpected crash of the rgbdSensor_nws_yarp. Also, the calculation of the scalar coefficient (involving math::pow), used to cut the decimal figures from the depth data, has been moved outside the for loop that cycles through the whole image (#623).
• In gazebo_yarp_controlboard update the parameters in icub_left_hand_mk4 regarding pinkie and thumb which are used to generate the look-up table to approximate the coupling laws. (#624)

gazebo-yarp-plugins v4.3.0

[4.3.0] - 2022-04-04

Added

• In gazebo_yarp_camera parse the yarpDeviceName option to enable its use with gazebo_yarp_robotinterface (#614).
• In gazebo_yarp_controlboard add the icub_left_hand_mk4 coupling that models the iCub mk4 left hand (#620).

Changed

• Migrate the example models under the tutorial directory to avoid the use of implicit network wrapper servers, and use the gazebo_yarp_robotinterface plugin to spawn their network wrapper servers (#615 and #616).

Fixed

• It is now possible to remove and add again to the simulation models that use gazebo_yarp_robotinterface without any crash (#618, #619).
• Fixed value returned by getDeviceStatus method in gazebo_yarp_laser plugin (#617).

gazebo-yarp-plugins v4.2.0

[4.2.0] - 2022-02-28

Added

• Added disableImplicitNetworkWrapper option to gazebo_yarp_forcetorque, gazebo_yarp_depthcamera, gazebo_yarp_lasersensor, gazebo_yarp_imu and gazebo_yarp_controlboard plugins. If present, this option
  disable any network wrapper server that the plugin created, by just creating the device itself. This option is meant to be used in conjuction with the gazebo_yarp_robotinterface plugin, that can be used to launch and attach any networ wrapper server. This option is equivalent to the behavior that can be obtained by setting the CMake option GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS to OFF (#586).
• The possibility to limit the decimal places of the pixels values has been added to the gazebo_yarp_depthcamera plugin, via the QUANT_PARAM::depth_quant parameter. The data modification is performed in the GazeboYarpDepthCameraDriver::getDepthImage function (#608).

Fixed

• Removed getLastInputStamp method from LaserSensorDriver class in gazebo_yarp_lasersensor. Furthermore, fix bug in gazebo_yarp_lasersensor, by adding the update to the variable m_timestamp inherited from yarp::dev::Lidar2DDeviceBase (#604).
• Fix use of yarpConfigurationString parameter in gazebo_yarp_worldinterface plugin (#609).

gazebo-yarp-plugins v4.1.2

[4.1.2] - 2022-01-19

Fixed

• Fix compilation against YARP 3.7 (#607, #608).

gazebo-yarp-plugins v4.1.1

[4.1.1] - 2022-01-13

Fixed

• Fix compilation against Gazebo 11.10.0 (#605, #606).

gazebo-yarp-plugins v4.1.0

[4.1.0] - 2021-12-23

Changed

• The gazebo_yarp_forcetorque plugin now handle the yarpDeviceName parameter (#584).
• The gazebo_yarp_forcetorque plugin can be now opened without implicit wrapper, by using the GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS CMake option (#584).
• The gazebo_imu plugin now handle the yarpDeviceName parameter (#583).
• The gazebo_imu plugin can be now opened without implicit wrapper, by using the GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS CMake option (#583).

Fixed

• Fixed compilation with YARP 3.6 (#599).

gazebo-yarp-plugins v4.0.0

[4.0.0] - 2021-09-03

Added

• The multicamera plugin now implements the yarp::dev::IRgbVisualParams interface (#558).
• The controlboard and multicamera plugins now handle the yarpDeviceName parameter (#559).

Changed

• gazebo_yarp_multicamera, gazebo_yarp_lasersensor, gazebo_yarp_doublelaser, gazebo_yarp_controlboard and gazebo_yarp_depthCamera plugins now log messages using the "Log Components" YARP logging feature.
• A cmake option (GAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS) has been added, if this option is enabled then implicit wrappers present ingazebo_yarp_multicamera, gazebo_yarp_lasersensor, gazebo_yarp_controlboard and gazebo_yarp_depthCamera are removed, the new way to have them is to attach the new nws to gazebo devices via yarprobotinterface.
• gazebo-yarp-plugins now requires YARP 3.5 (#562).
• In the gazebo_yarp_controlboard plugin configuration, if the [VELOCITY_CONTROL] group is present the velocityControlImplementationType parameter is now compulsory, and model loading will fail if it is not set.

Fixed

• Fixed the getRgbIntrinsicParam method in the depthCamera plugin when the distortion is not set (#558).
• The property returned by getRgbIntrinsicParam(), now contains rectificationMatrix instead of rectificationMatrix (#558, see also robotology/yarp#2593).

Removed

• The gazebo_yarp_jointsensors and the gazebo_yarp_doublelaser have been removed (#574).
• The support for Gazebo 9 and 10 has been removed. gazebo-yarp-plugins now requires Gazebo 11 (#575).

gazebo-yarp-plugins v3.6.2

[3.6.2] - 2021-08-27

Deprecated

• The gazebo_yarp_jointsensors and the gazebo_yarp_doublelaser have been deprecated and will be removed in the next major version of gazebo-yarp-plugins.

gazebo-yarp-plugins v3.6.1

[3.6.1] - 2021-05-19

Fixed

• Fixed use of libYARP_robotinterface with YARP devices spawned by sensor plugins (#544).
• Fixed compilation against YARP 3.5 by removing spurious print in WorldInterface plugin (#548).