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).

gazebo-yarp-plugins v3.5.1

[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).

gazebo-yarp-plugins v3.5.0

[3.5.0] - 2020-08-26

This version is compatible with YARP 3.4 and Gazebo 7, 8, 9, 10 and 11.

Added

• Add the implementation to import models in the gazebo world in two configuration. First, load it directly with the pose in the sdf-file or second, load it with a given pose. (#467)
• Add external wrench smoothing feature for externalwrench plugin (#495)
• Add the possibility to define initial configuration for linkattacher plugin (#497)
• Add the possibility to specify limits for coupled joints for gazebo_yarp_controlboard plugin (#499)

Fixed

• Fixed empty string return for creation of the cylinder object. (#467)
• Fixed empty pointer error in the creation process of the objects (sphere, box, cylinder) and the frame. (#467)
• Fixed wrong measurements feedback used for coupled joints in gazebo_yarp_controlboard(#492).
• Fixed mismatched behavior, with respect to the real robot, of coupling handler FingersAbductionCouplingHandler in 'gazebo_yarp_controlboard' plugin (#499)
• Fixed mismatched behavior, with respect to the real robot, of mais analog sensors in 'gazebo_yarp_maissensor' plugin (#500)

gazebo-yarp-plugins v3.4.2

[3.4.2] - 2020-08-25

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9, 10 and 11. It is not compatible with YARP 3.4.0 and greater.

Fixed

• Removed Windows end of lines (#507).

gazebo-yarp-plugins v3.4.1

[3.4.1] - 2020-08-24

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9, 10 and 11. It is not compatible with YARP 3.4.0 and greater.

Fixed

• Fixed compilation with Boost 1.73 (#505).

gazebo-yarp-plugins v3.4.0

[3.4.0] - 2020-05-19

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9, 10 and 11.

Added

• Add the possibility to create different types of joints with the linkattacher plugin (#461).

Fixed

• Fixed initialization of the local simulation time from Gazebo simTime on first call of onUpdate (#478).

gazebo-yarp-plugins v3.3.2

[3.3.2] - 2020-05-08

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9, 10 and 11.

Fixed

• Fix linking on MSVC when not using the vcpkg's CMAKE_TOOLCHAIN_FILE (#483).

gazebo-yarp-plugins v3.3.1

[3.3.1] - 2020-03-05

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9, 10 and 11.

Fixed

• Solve the problem of setting the interaction mode when the mode of actuator has been already set on the same requested interaction mode (#464).
• Fix implementation of yarp::dev::IPositionControl::relativeMove in gazebo_yarp_controlboard (#466).

gazebo-yarp-plugins v3.3.0

[3.3.0] - 2019-12-13

This version is compatible with YARP 3.3 and Gazebo 7, 8, 9 and 10.

Added

• Add the usage of MultipleAnalogInterfaces(https://www.yarp.it/group__dev__iface__multiple__analog.html)
  in the gazebo_yarp_imu.

Fixed

• Fixed compilation on Gazebo 7 by disabling compilation of externalwrench plugin if the project is configured with Gazebo 7 (#434).

Removed

• Support for YARP <= 3.2 was removed. This release requires the use of YARP 3.3 .

gazebo-yarp-plugins v3.2.0

Version compatible with YARP 3.2.0 and Gazebo 7, 8, 9 and 10.

[3.2.0] - 2019-07-01

Added

• Add resetSimulation method to reset simulation state and time time, in the gazebo_yarp_clock RPC interface (#345).
• Add resetSimulationState method to reset simulation state, but not the time, in the gazebo_yarp_clock RPC interface (#424).
• Add gazebo_yarp_doublelaser plugin to simulate a double laser device (#419).
• Add gazebo_yarp_configurationoverride plugin that can be attached to a model in order to override the sdf configuration of any other plugin that is attached to the same model (#401). This plugin is particularly useful to set the initial configuration of a given model, and is documented in https://github.com/robotology/gazebo-yarp-plugins/blob/v3.2.0/plugins/configurationoverride/README.md .
• Add features in gazebo_yarp_externalwrench to apply multiple external wrenchs at the same time (#418) .
• Add the yarpConfigurationString to configure the YARP plugins with a single yarpConfigurationString embedded in the SDF code of the plugin (#396).
• Add a ChangeLog document based on the format defined in Keep a Changelog.

Fixed

• Fix invalid camera parameters in gazebo_depthCamera plugin (#408).