From 0b20fb23af81396ca33ea5128dc0bfa4e0441170 Mon Sep 17 00:00:00 2001 From: ipa-mig Date: Wed, 17 May 2017 15:52:05 +0200 Subject: [PATCH 01/52] cob_sick_s300: adjust range_max --- cob_sick_s300/ros/src/cob_sick_s300.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cob_sick_s300/ros/src/cob_sick_s300.cpp b/cob_sick_s300/ros/src/cob_sick_s300.cpp index ca15cff81..e61947241 100644 --- a/cob_sick_s300/ros/src/cob_sick_s300.cpp +++ b/cob_sick_s300/ros/src/cob_sick_s300.cpp @@ -291,7 +291,7 @@ class NodeClass laserScan.header.frame_id = frame_id; laserScan.angle_increment = vdAngRAD[start_scan + 1] - vdAngRAD[start_scan]; laserScan.range_min = 0.001; - laserScan.range_max = 30.0; + laserScan.range_max = 29.5; // though the specs state otherwise, the max range reported by the scanner is 29.96m laserScan.time_increment = (scan_duration) / (vdDistM.size()); // rescale scan From 00718761dfa86cb9cedcd4d199b3638b0813702a Mon Sep 17 00:00:00 2001 From: flg-pb Date: Tue, 18 Jul 2017 14:02:46 +0200 Subject: [PATCH 02/52] update changelog --- cob_base_drive_chain/CHANGELOG.rst | 10 +++++++ cob_bms_driver/CHANGELOG.rst | 38 +++++++++++++++++++++++++++ cob_camera_sensors/CHANGELOG.rst | 5 ++++ cob_canopen_motor/CHANGELOG.rst | 5 ++++ cob_driver/CHANGELOG.rst | 5 ++++ cob_elmo_homing/CHANGELOG.rst | 5 ++++ cob_generic_can/CHANGELOG.rst | 15 +++++++++++ cob_head_axis/CHANGELOG.rst | 5 ++++ cob_light/CHANGELOG.rst | 17 ++++++++++++ cob_mimic/CHANGELOG.rst | 14 ++++++++++ cob_phidget_em_state/CHANGELOG.rst | 5 ++++ cob_phidget_power_state/CHANGELOG.rst | 7 +++++ cob_phidgets/CHANGELOG.rst | 6 +++++ cob_relayboard/CHANGELOG.rst | 5 ++++ cob_scan_unifier/CHANGELOG.rst | 10 +++++++ cob_sick_lms1xx/CHANGELOG.rst | 5 ++++ cob_sick_s300/CHANGELOG.rst | 13 +++++++++ cob_sound/CHANGELOG.rst | 7 +++++ cob_undercarriage_ctrl/CHANGELOG.rst | 5 ++++ cob_utilities/CHANGELOG.rst | 5 ++++ cob_voltage_control/CHANGELOG.rst | 6 +++++ 21 files changed, 193 insertions(+) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index bc17d0eff..76e1ce23a 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix/diagnostic rate (`#329 `_) + * Turned down global diagnostic rate to 1Hz + * Fixed comments + * Intermediate + * Fixed +* manually fix changelog +* Contributors: ipa-fxm, mig-em + 0.6.8 (2016-10-10) ------------------ * introduced param to set homing velocity diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 5c8d5bb1c..e5e00fc41 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* minor change for handling exception +* made changes which only sets the current that in turn is used by power_aggregator for relative_remaining_capacity calculation +* fix typo +* added emulation of realistic current value +* minor change for publishing a realistic voltage value +* Merge pull request `#310 `_ from souravran/feature/fake_bms + added a fake bms with set_charging and set_relative_remaining_capacity services +* finalize exception handling +* fake current +* consistent naming +* publish diagnostics in fake_bms +* harmonize namespaces of fake_bms +* uses the default parameter value +* poll frequency has been set from the parameter list +* made changes as per the review. + power state elements being published at 20 Hz. + removed junk rospy log and changed division_by_zero error message. +* fake_bms publishing all power_state entities. + added exception handling in power_state_aggregator. + added package dependency and install tags. +* added a fake bms with set_charging and set_relative_remaining_capacity services +* fix typo +* fix powerstate aggregator charging flag (bms is not delivering correct flag for full battery and docked) +* use bms flag for harging +* fix identation +* use spaces for indention in BMS driver +* updated authors +* added support for bit_mask'ed booleans +* make BmsParameter an abstract base class +* BMS driver clean-up +* switch from map of vectors to multimap in BMS driver +* simplified BMS publisher creation and polling list optimization +* simplified BMS config parsing +* manually fix changelog +* Contributors: Felix Messmer, Florian Weisshardt, Mathias Lüdtke, Nadia Hammoudeh García, fmw-ss, ipa-fxm, robot + 0.6.8 (2016-10-10) ------------------ * restart CAN on failure diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index c92fe71f7..7802b1079 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 7ca7f5251..a62f42f19 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index c02fc67eb..99f3cecc0 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index c756caadd..a55cdb4f4 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index 804bf65b5..c553f2121 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* SocketCAN support (`#269 `_) + * SocketCAN finished implementaiton. + * Licence update and formating. + * Run socketcan_interface in the new thread. + * Removed cmake_modules for boost. + * Thread initialisation moved to front and added sleep to let enough time to start the thread since this caused problems in some cases (on some computers). + * Using ThreadedSocketCANInterface. + * BufferedReader working + * Updated dependecies and removed initCAN() function. + * Clean SocketCAN implementation and set Timeout to correct unit (MicroSeconds) +* manually fix changelog +* Contributors: Denis Štogl, ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_head_axis/CHANGELOG.rst b/cob_head_axis/CHANGELOG.rst index 751c2514b..374152489 100644 --- a/cob_head_axis/CHANGELOG.rst +++ b/cob_head_axis/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_head_axis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index da3a1bd6f..180a2c7bd 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added test script + added test script + added test script + fix + fix + fix + added additional mode to test scripts + speed up test scripts +* protect callbacks with scoped locks +* void function +* manually fix changelog +* xmas mode corrections +* added new lightmode xmas +* Contributors: Benjamin Maidel, ipa-fxm + 0.6.8 (2016-10-10) ------------------ * return true for stop mode service to avoid ugly error messages on client side diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index c12fdb8f6..2fd4b0eb8 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update license +* Delete ___init_\_.py +* Update package.xml +* remove vlc.py and add it as rosdep dependency (PR to rosdistro is https://github.com/ros/rosdistro/pull/15366) +* cleanup mimic node +* - removed hardcoded sleep time between transition between emotions. +* fix for the flickering in playback, caused when an emotion is set. +* fix cpu usage of the mimic node +* manually fix changelog +* mimic support the rotation of the face +* Contributors: Felix Messmer, Florian Weisshardt, fmw-ss, ipa-cob4-5, ipa-fxm, ipa-nhg, souravran + 0.6.8 (2016-10-10) ------------------ * vlc 2.2 version use by default the wrong video output diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index cbd42ca99..97f0e63c5 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* send em_state only if data from phidget received +* Contributors: Benjamin Maidel + 0.6.8 (2016-10-10) ------------------ * fix diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 9c76d9304..358ef201c 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* shut down if the voltage divider factor is undefined +* renamed max_voltage to more descriptive voltage_divider_factor +* smooth calculated voltage from phidget board by adapting average over windows of measurements +* Contributors: Benjamin Maidel, Jannik Abbenseth + 0.6.8 (2016-10-10) ------------------ * fix current sign diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 4d7a1d381..4eb9e3fb0 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* use usleep +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 5d9cd7193..151b34f6c 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index a5d390069..180a2dfb5 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* remove commented line +* Added sleep in constructor, new topic parameter parsing, better error handling. +* Some small fixes +* Cleanup +* Use message_filter::Synchronizer (there is still a bug) +* manually fix changelog +* Contributors: Elias Marks, Matthias Gruhler, ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index df33df22f..9fe925d2a 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ * cob_sick_lms1xx: add range configuration diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index e286a4587..a0c81bae7 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [cob_sick_s300] fix typo in Readme +* cob_sick_s300: clarify some points about the measurement range fields in the readme +* cob_sick_s300: add readme +* cob_sick_s300: remove debug print out +* cob_sick_s300: properly get offsets and add corresponding docu to source code +* cob_sick_s300: comment warning about field parameters --> this is currently buggy, old version works better +* cob_sick_s300: move telegram description to telegram parser file +* cob_sick_s300: clarify telegram calculation according to telegram listing +* manually fix changelog +* Contributors: Matthias Gruhler, ipa-fxm, ipa-mig + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 9ab3ad654..80b58c8ba 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* remove dependency to sound_play +* fix sound test_client +* manually fix changelog +* Contributors: Felix Messmer, ipa-fxm + 0.6.8 (2016-10-10) ------------------ * fade volume on play and between tracks diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index e5151053d..23e9bb603 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index 315bf3a9d..ecfbf0aa4 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* manually fix changelog +* Contributors: ipa-fxm + 0.6.8 (2016-10-10) ------------------ diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index 5071cd2f5..0211ceaea 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Update csv_processing.launch +* manually fix changelog +* Contributors: Felix Messmer, ipa-fxm + 0.6.8 (2016-10-10) ------------------ From d1b1c6bd9aa6b322c932025d98c09a96df4edbd5 Mon Sep 17 00:00:00 2001 From: flg-pb Date: Tue, 18 Jul 2017 14:03:01 +0200 Subject: [PATCH 03/52] 0.6.9 --- cob_base_drive_chain/CHANGELOG.rst | 4 ++-- cob_base_drive_chain/package.xml | 2 +- cob_bms_driver/CHANGELOG.rst | 4 ++-- cob_bms_driver/package.xml | 2 +- cob_camera_sensors/CHANGELOG.rst | 4 ++-- cob_camera_sensors/package.xml | 2 +- cob_canopen_motor/CHANGELOG.rst | 4 ++-- cob_canopen_motor/package.xml | 2 +- cob_driver/CHANGELOG.rst | 4 ++-- cob_driver/package.xml | 2 +- cob_elmo_homing/CHANGELOG.rst | 4 ++-- cob_elmo_homing/package.xml | 2 +- cob_generic_can/CHANGELOG.rst | 4 ++-- cob_generic_can/package.xml | 2 +- cob_head_axis/CHANGELOG.rst | 4 ++-- cob_head_axis/package.xml | 2 +- cob_light/CHANGELOG.rst | 4 ++-- cob_light/package.xml | 2 +- cob_mimic/CHANGELOG.rst | 4 ++-- cob_mimic/package.xml | 2 +- cob_phidget_em_state/CHANGELOG.rst | 4 ++-- cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/CHANGELOG.rst | 4 ++-- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/CHANGELOG.rst | 4 ++-- cob_phidgets/package.xml | 2 +- cob_relayboard/CHANGELOG.rst | 4 ++-- cob_relayboard/package.xml | 2 +- cob_scan_unifier/CHANGELOG.rst | 4 ++-- cob_scan_unifier/package.xml | 2 +- cob_sick_lms1xx/CHANGELOG.rst | 4 ++-- cob_sick_lms1xx/package.xml | 2 +- cob_sick_s300/CHANGELOG.rst | 4 ++-- cob_sick_s300/package.xml | 2 +- cob_sound/CHANGELOG.rst | 4 ++-- cob_sound/package.xml | 2 +- cob_undercarriage_ctrl/CHANGELOG.rst | 4 ++-- cob_undercarriage_ctrl/package.xml | 2 +- cob_utilities/CHANGELOG.rst | 4 ++-- cob_utilities/package.xml | 2 +- cob_voltage_control/CHANGELOG.rst | 4 ++-- cob_voltage_control/package.xml | 2 +- 42 files changed, 63 insertions(+), 63 deletions(-) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index 76e1ce23a..b55d188ea 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * Fix/diagnostic rate (`#329 `_) * Turned down global diagnostic rate to 1Hz * Fixed comments diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml index 5f85896e2..1c74adaa4 100644 --- a/cob_base_drive_chain/package.xml +++ b/cob_base_drive_chain/package.xml @@ -1,6 +1,6 @@ cob_base_drive_chain - 0.6.8 + 0.6.9 This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information. LGPL diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index e5e00fc41..b54d4d122 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * minor change for handling exception * made changes which only sets the current that in turn is used by power_aggregator for relative_remaining_capacity calculation * fix typo diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index 1bb52a640..b2138fa31 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -1,7 +1,7 @@ cob_bms_driver - 0.6.8 + 0.6.9 Driver package for interfacing the battery management system (BMS) on Care-O-bot. diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 7802b1079..c566b1631 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml index b1ef8f657..daa05a1c6 100644 --- a/cob_camera_sensors/package.xml +++ b/cob_camera_sensors/package.xml @@ -1,6 +1,6 @@ cob_camera_sensors - 0.6.8 + 0.6.9 For more information read the readme.htm file located in LGPL diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index a62f42f19..99c3b048c 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml index ced5c332d..8e775b124 100644 --- a/cob_canopen_motor/package.xml +++ b/cob_canopen_motor/package.xml @@ -1,6 +1,6 @@ cob_canopen_motor - 0.6.8 + 0.6.9 The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica". LGPL diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index 99f3cecc0..1cbcf0154 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_driver/package.xml b/cob_driver/package.xml index 21c3d4b6c..cc68000ac 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -1,6 +1,6 @@ cob_driver - 0.6.8 + 0.6.9 The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc... LGPL diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index a55cdb4f4..07a2b44a0 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml index ed1b47fab..49cbcc778 100644 --- a/cob_elmo_homing/package.xml +++ b/cob_elmo_homing/package.xml @@ -1,7 +1,7 @@ cob_elmo_homing - 0.6.8 + 0.6.9 This packagae implements the special homing procedure that is needed for old cob4/raw bases Mathias Lüdtke diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index c553f2121..27ae32a98 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * SocketCAN support (`#269 `_) * SocketCAN finished implementaiton. * Licence update and formating. diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml index 6d325d3bf..72c03b230 100644 --- a/cob_generic_can/package.xml +++ b/cob_generic_can/package.xml @@ -1,6 +1,6 @@ cob_generic_can - 0.6.8 + 0.6.9 The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters. LGPL diff --git a/cob_head_axis/CHANGELOG.rst b/cob_head_axis/CHANGELOG.rst index 374152489..2d488ea52 100644 --- a/cob_head_axis/CHANGELOG.rst +++ b/cob_head_axis/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_head_axis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_head_axis/package.xml b/cob_head_axis/package.xml index f677619c9..6b1225452 100644 --- a/cob_head_axis/package.xml +++ b/cob_head_axis/package.xml @@ -1,6 +1,6 @@ cob_head_axis - 0.6.8 + 0.6.9 cob_head_axis LGPL diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 180a2c7bd..aee251895 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * added test script added test script added test script diff --git a/cob_light/package.xml b/cob_light/package.xml index 68fbd7c8a..26cd15784 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -1,6 +1,6 @@ cob_light - 0.6.8 + 0.6.9 This package contains scripts to operate the LED lights on Care-O-bot. LGPL diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index 2fd4b0eb8..ff1826796 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * update license * Delete ___init_\_.py * Update package.xml diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index 17728e6e4..9d5db85ca 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -1,6 +1,6 @@ cob_mimic - 0.6.8 + 0.6.9 This package implements the Care-O-bot mimic LGPL diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 97f0e63c5..2b843de3f 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * send em_state only if data from phidget received * Contributors: Benjamin Maidel diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index fe9154f55..6f41554a7 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_em_state - 0.6.8 + 0.6.9 The cob_phidget_em_state package Benjamin Maidel diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 358ef201c..12edf2882 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * shut down if the voltage divider factor is undefined * renamed max_voltage to more descriptive voltage_divider_factor * smooth calculated voltage from phidget board by adapting average over windows of measurements diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index c9f0216d4..830e9aa15 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_power_state - 0.6.8 + 0.6.9 The cob_phidget_power_state package Benjamin Maidel diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 4eb9e3fb0..596006ca4 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * use usleep * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index 72e70eef4..b6a4ee720 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -1,6 +1,6 @@ cob_phidgets - 0.6.8 + 0.6.9 cob_phidgets LGPL diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 151b34f6c..225361f3b 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml index d1c8b644d..1e435c103 100644 --- a/cob_relayboard/package.xml +++ b/cob_relayboard/package.xml @@ -1,6 +1,6 @@ cob_relayboard - 0.6.8 + 0.6.9 cob_relayboard LGPL diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 180a2dfb5..8f4e80274 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * remove commented line * Added sleep in constructor, new topic parameter parsing, better error handling. * Some small fixes diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index 886b05330..72b277f06 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -1,7 +1,7 @@ cob_scan_unifier - 0.6.8 + 0.6.9 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Benjamin Maidel diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index 9fe925d2a..d90a5dd4e 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_sick_lms1xx/package.xml b/cob_sick_lms1xx/package.xml index 99d86faaa..3982cf77b 100644 --- a/cob_sick_lms1xx/package.xml +++ b/cob_sick_lms1xx/package.xml @@ -1,6 +1,6 @@ cob_sick_lms1xx - 0.6.8 + 0.6.9 This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install. diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index a0c81bae7..31324bfb0 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * [cob_sick_s300] fix typo in Readme * cob_sick_s300: clarify some points about the measurement range fields in the readme * cob_sick_s300: add readme diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index 56dfee6e6..8e26732db 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -1,6 +1,6 @@ cob_sick_s300 - 0.6.8 + 0.6.9 This package published a laser scan message out of a Sick S300 laser scanner. LGPL diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 80b58c8ba..48377dbcf 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * remove dependency to sound_play * fix sound test_client * manually fix changelog diff --git a/cob_sound/package.xml b/cob_sound/package.xml index a873c619e..0d24c90e2 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -1,6 +1,6 @@ cob_sound - 0.6.8 + 0.6.9 This package implements a sound play module using text2wave and aplay through python. LGPL diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 23e9bb603..531c59be7 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_undercarriage_ctrl/package.xml b/cob_undercarriage_ctrl/package.xml index 0c6e07e70..0fd4800a3 100644 --- a/cob_undercarriage_ctrl/package.xml +++ b/cob_undercarriage_ctrl/package.xml @@ -1,6 +1,6 @@ cob_undercarriage_ctrl - 0.6.8 + 0.6.9 cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity LGPL diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index ecfbf0aa4..be43c3c5f 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * manually fix changelog * Contributors: ipa-fxm diff --git a/cob_utilities/package.xml b/cob_utilities/package.xml index d76a21f80..da769250d 100644 --- a/cob_utilities/package.xml +++ b/cob_utilities/package.xml @@ -1,6 +1,6 @@ cob_utilities - 0.6.8 + 0.6.9 Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code! diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index 0211ceaea..6a5697bef 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.9 (2017-07-18) +------------------ * Update csv_processing.launch * manually fix changelog * Contributors: Felix Messmer, ipa-fxm diff --git a/cob_voltage_control/package.xml b/cob_voltage_control/package.xml index c1a932c18..4f5b39df4 100644 --- a/cob_voltage_control/package.xml +++ b/cob_voltage_control/package.xml @@ -1,6 +1,6 @@ cob_voltage_control - 0.6.8 + 0.6.9 Interface to IO board that manages emergency stop and battery voltage on rob@work 3 LGPL From dbebd55b03d552e3732e0fc1cbb3eac1c2b1fd72 Mon Sep 17 00:00:00 2001 From: flg-pb Date: Mon, 24 Jul 2017 13:03:51 +0200 Subject: [PATCH 04/52] update changelog --- cob_base_drive_chain/CHANGELOG.rst | 3 +++ cob_bms_driver/CHANGELOG.rst | 3 +++ cob_camera_sensors/CHANGELOG.rst | 3 +++ cob_canopen_motor/CHANGELOG.rst | 3 +++ cob_driver/CHANGELOG.rst | 3 +++ cob_elmo_homing/CHANGELOG.rst | 3 +++ cob_generic_can/CHANGELOG.rst | 3 +++ cob_head_axis/CHANGELOG.rst | 3 +++ cob_light/CHANGELOG.rst | 5 +++++ cob_mimic/CHANGELOG.rst | 7 +++++++ cob_phidget_em_state/CHANGELOG.rst | 3 +++ cob_phidget_power_state/CHANGELOG.rst | 3 +++ cob_phidgets/CHANGELOG.rst | 3 +++ cob_relayboard/CHANGELOG.rst | 3 +++ cob_scan_unifier/CHANGELOG.rst | 3 +++ cob_sick_lms1xx/CHANGELOG.rst | 3 +++ cob_sick_s300/CHANGELOG.rst | 3 +++ cob_sound/CHANGELOG.rst | 3 +++ cob_undercarriage_ctrl/CHANGELOG.rst | 3 +++ cob_utilities/CHANGELOG.rst | 3 +++ cob_voltage_control/CHANGELOG.rst | 3 +++ 21 files changed, 69 insertions(+) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index b55d188ea..91f7ceda1 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * Fix/diagnostic rate (`#329 `_) diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index b54d4d122..86d391daf 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * minor change for handling exception diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index c566b1631..492fe2a7c 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 99c3b048c..eb04643a6 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index 1cbcf0154..61d675bb4 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index 07a2b44a0..de63fb540 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index 27ae32a98..24adcd8f5 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * SocketCAN support (`#269 `_) diff --git a/cob_head_axis/CHANGELOG.rst b/cob_head_axis/CHANGELOG.rst index 2d488ea52..4b201bd64 100644 --- a/cob_head_axis/CHANGELOG.rst +++ b/cob_head_axis/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_head_axis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index aee251895..2895fe0ca 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* fixed function return value +* Contributors: Benjamin Maidel + 0.6.9 (2017-07-18) ------------------ * added test script diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index ff1826796..70e4fb8fa 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge branch 'indigo_dev' into indigo_release_candidate +* added apache header +* ported mimic from python to c++ +* Contributors: Benjamin Maidel, flg-pb + 0.6.9 (2017-07-18) ------------------ * update license diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 2b843de3f..33a47d9a4 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * send em_state only if data from phidget received diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 12edf2882..dd76f515f 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * shut down if the voltage divider factor is undefined diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 596006ca4..b4da2a130 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * use usleep diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 225361f3b..5e2e5ed0f 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 8f4e80274..277022bd2 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * remove commented line diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index d90a5dd4e..1b6f2750e 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index 31324bfb0..2f4084f54 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * [cob_sick_s300] fix typo in Readme diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 48377dbcf..88bb411e0 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * remove dependency to sound_play diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 531c59be7..6692a1ffa 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index be43c3c5f..fc28bcc38 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * manually fix changelog diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index 6a5697bef..b933431ca 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.9 (2017-07-18) ------------------ * Update csv_processing.launch From 65a68e1a3175bbd42b42374b57452546dfd5da35 Mon Sep 17 00:00:00 2001 From: flg-pb Date: Mon, 24 Jul 2017 13:04:14 +0200 Subject: [PATCH 05/52] 0.6.10 --- cob_base_drive_chain/CHANGELOG.rst | 4 ++-- cob_base_drive_chain/package.xml | 2 +- cob_bms_driver/CHANGELOG.rst | 4 ++-- cob_bms_driver/package.xml | 2 +- cob_camera_sensors/CHANGELOG.rst | 4 ++-- cob_camera_sensors/package.xml | 2 +- cob_canopen_motor/CHANGELOG.rst | 4 ++-- cob_canopen_motor/package.xml | 2 +- cob_driver/CHANGELOG.rst | 4 ++-- cob_driver/package.xml | 2 +- cob_elmo_homing/CHANGELOG.rst | 4 ++-- cob_elmo_homing/package.xml | 2 +- cob_generic_can/CHANGELOG.rst | 4 ++-- cob_generic_can/package.xml | 2 +- cob_head_axis/CHANGELOG.rst | 4 ++-- cob_head_axis/package.xml | 2 +- cob_light/CHANGELOG.rst | 4 ++-- cob_light/package.xml | 2 +- cob_mimic/CHANGELOG.rst | 4 ++-- cob_mimic/package.xml | 2 +- cob_phidget_em_state/CHANGELOG.rst | 4 ++-- cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/CHANGELOG.rst | 4 ++-- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/CHANGELOG.rst | 4 ++-- cob_phidgets/package.xml | 2 +- cob_relayboard/CHANGELOG.rst | 4 ++-- cob_relayboard/package.xml | 2 +- cob_scan_unifier/CHANGELOG.rst | 4 ++-- cob_scan_unifier/package.xml | 2 +- cob_sick_lms1xx/CHANGELOG.rst | 4 ++-- cob_sick_lms1xx/package.xml | 2 +- cob_sick_s300/CHANGELOG.rst | 4 ++-- cob_sick_s300/package.xml | 2 +- cob_sound/CHANGELOG.rst | 4 ++-- cob_sound/package.xml | 2 +- cob_undercarriage_ctrl/CHANGELOG.rst | 4 ++-- cob_undercarriage_ctrl/package.xml | 2 +- cob_utilities/CHANGELOG.rst | 4 ++-- cob_utilities/package.xml | 2 +- cob_voltage_control/CHANGELOG.rst | 4 ++-- cob_voltage_control/package.xml | 2 +- 42 files changed, 63 insertions(+), 63 deletions(-) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index 91f7ceda1..9cc0597b2 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml index 1c74adaa4..bd32fc973 100644 --- a/cob_base_drive_chain/package.xml +++ b/cob_base_drive_chain/package.xml @@ -1,6 +1,6 @@ cob_base_drive_chain - 0.6.9 + 0.6.10 This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information. LGPL diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 86d391daf..d2d8ab0b2 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index b2138fa31..3ff0a56c3 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -1,7 +1,7 @@ cob_bms_driver - 0.6.9 + 0.6.10 Driver package for interfacing the battery management system (BMS) on Care-O-bot. diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 492fe2a7c..ccfc6afb4 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml index daa05a1c6..c281c296f 100644 --- a/cob_camera_sensors/package.xml +++ b/cob_camera_sensors/package.xml @@ -1,6 +1,6 @@ cob_camera_sensors - 0.6.9 + 0.6.10 For more information read the readme.htm file located in LGPL diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index eb04643a6..190d8ee4f 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml index 8e775b124..d1292f4f7 100644 --- a/cob_canopen_motor/package.xml +++ b/cob_canopen_motor/package.xml @@ -1,6 +1,6 @@ cob_canopen_motor - 0.6.9 + 0.6.10 The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica". LGPL diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index 61d675bb4..b34013649 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_driver/package.xml b/cob_driver/package.xml index cc68000ac..ceacf9009 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -1,6 +1,6 @@ cob_driver - 0.6.9 + 0.6.10 The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc... LGPL diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index de63fb540..a409caef3 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml index 49cbcc778..02e4ae072 100644 --- a/cob_elmo_homing/package.xml +++ b/cob_elmo_homing/package.xml @@ -1,7 +1,7 @@ cob_elmo_homing - 0.6.9 + 0.6.10 This packagae implements the special homing procedure that is needed for old cob4/raw bases Mathias Lüdtke diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index 24adcd8f5..dbd3065bd 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml index 72c03b230..47b1a7a28 100644 --- a/cob_generic_can/package.xml +++ b/cob_generic_can/package.xml @@ -1,6 +1,6 @@ cob_generic_can - 0.6.9 + 0.6.10 The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters. LGPL diff --git a/cob_head_axis/CHANGELOG.rst b/cob_head_axis/CHANGELOG.rst index 4b201bd64..cccacea2b 100644 --- a/cob_head_axis/CHANGELOG.rst +++ b/cob_head_axis/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_head_axis ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_head_axis/package.xml b/cob_head_axis/package.xml index 6b1225452..884ca7a54 100644 --- a/cob_head_axis/package.xml +++ b/cob_head_axis/package.xml @@ -1,6 +1,6 @@ cob_head_axis - 0.6.9 + 0.6.10 cob_head_axis LGPL diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 2895fe0ca..05d913315 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- * fixed function return value * Contributors: Benjamin Maidel diff --git a/cob_light/package.xml b/cob_light/package.xml index 26cd15784..311cb9304 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -1,6 +1,6 @@ cob_light - 0.6.9 + 0.6.10 This package contains scripts to operate the LED lights on Care-O-bot. LGPL diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index 70e4fb8fa..2924f085a 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- * Merge branch 'indigo_dev' into indigo_release_candidate * added apache header * ported mimic from python to c++ diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index bb07fc822..b4b757990 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -1,6 +1,6 @@ cob_mimic - 0.6.9 + 0.6.10 This package implements the Care-O-bot mimic LGPL diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 33a47d9a4..a0fd87ef4 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index 6f41554a7..d02071f94 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_em_state - 0.6.9 + 0.6.10 The cob_phidget_em_state package Benjamin Maidel diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index dd76f515f..12eaf6408 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index 830e9aa15..0df9ef7c0 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_power_state - 0.6.9 + 0.6.10 The cob_phidget_power_state package Benjamin Maidel diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index b4da2a130..f986fd2ec 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index b6a4ee720..de93b3115 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -1,6 +1,6 @@ cob_phidgets - 0.6.9 + 0.6.10 cob_phidgets LGPL diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 5e2e5ed0f..76427a135 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml index 1e435c103..895dc9048 100644 --- a/cob_relayboard/package.xml +++ b/cob_relayboard/package.xml @@ -1,6 +1,6 @@ cob_relayboard - 0.6.9 + 0.6.10 cob_relayboard LGPL diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 277022bd2..02f359cf5 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index 72b277f06..6a8cf0018 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -1,7 +1,7 @@ cob_scan_unifier - 0.6.9 + 0.6.10 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Benjamin Maidel diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index 1b6f2750e..f11bed893 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_sick_lms1xx/package.xml b/cob_sick_lms1xx/package.xml index 3982cf77b..251c6f7ee 100644 --- a/cob_sick_lms1xx/package.xml +++ b/cob_sick_lms1xx/package.xml @@ -1,6 +1,6 @@ cob_sick_lms1xx - 0.6.9 + 0.6.10 This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install. diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index 2f4084f54..59b6452b7 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index 8e26732db..97946e19b 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -1,6 +1,6 @@ cob_sick_s300 - 0.6.9 + 0.6.10 This package published a laser scan message out of a Sick S300 laser scanner. LGPL diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 88bb411e0..04fa93172 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_sound/package.xml b/cob_sound/package.xml index 0d24c90e2..9779ceffb 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -1,6 +1,6 @@ cob_sound - 0.6.9 + 0.6.10 This package implements a sound play module using text2wave and aplay through python. LGPL diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 6692a1ffa..86356eea3 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_undercarriage_ctrl/package.xml b/cob_undercarriage_ctrl/package.xml index 0fd4800a3..99f5c082f 100644 --- a/cob_undercarriage_ctrl/package.xml +++ b/cob_undercarriage_ctrl/package.xml @@ -1,6 +1,6 @@ cob_undercarriage_ctrl - 0.6.9 + 0.6.10 cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity LGPL diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index fc28bcc38..636159f31 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_utilities/package.xml b/cob_utilities/package.xml index da769250d..aa7f6ac33 100644 --- a/cob_utilities/package.xml +++ b/cob_utilities/package.xml @@ -1,6 +1,6 @@ cob_utilities - 0.6.9 + 0.6.10 Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code! diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index b933431ca..a3af9eed6 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.10 (2017-07-24) +------------------- 0.6.9 (2017-07-18) ------------------ diff --git a/cob_voltage_control/package.xml b/cob_voltage_control/package.xml index 4f5b39df4..e8498ddfd 100644 --- a/cob_voltage_control/package.xml +++ b/cob_voltage_control/package.xml @@ -1,6 +1,6 @@ cob_voltage_control - 0.6.9 + 0.6.10 Interface to IO board that manages emergency stop and battery voltage on rob@work 3 LGPL From 849673c326c3b1e52b47421c089d1476c9059865 Mon Sep 17 00:00:00 2001 From: Andreea Tulbure Date: Tue, 8 Aug 2017 11:04:36 +0200 Subject: [PATCH 06/52] changes to compile --- cob_light/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cob_light/CMakeLists.txt b/cob_light/CMakeLists.txt index 46c328fdb..3ddc032f1 100644 --- a/cob_light/CMakeLists.txt +++ b/cob_light/CMakeLists.txt @@ -5,6 +5,9 @@ find_package(catkin REQUIRED COMPONENTS actionlib_msgs actionlib diagnostic_msgs find_package(Boost REQUIRED COMPONENTS signals thread) +set(CMAKE_CXX_COMPILER "clang++") +set(CMAKE_C_COMPILER "clang") + ### Message Generation ### add_message_files( FILES From f8186ada6fb37079224d21862bcc1525a32eab07 Mon Sep 17 00:00:00 2001 From: Andreea Tulbure Date: Tue, 8 Aug 2017 12:04:47 +0200 Subject: [PATCH 07/52] needed for compiling --- cob_mimic/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cob_mimic/CMakeLists.txt b/cob_mimic/CMakeLists.txt index fc8645dbf..b52bb4b01 100644 --- a/cob_mimic/CMakeLists.txt +++ b/cob_mimic/CMakeLists.txt @@ -6,6 +6,9 @@ find_package(PkgConfig REQUIRED) find_package(Boost REQUIRED COMPONENTS filesystem thread) pkg_check_modules(libvlc REQUIRED libvlc) +set(CMAKE_CXX_COMPILER "clang++") +set(CMAKE_C_COMPILER "clang") + ### Message Generation ### add_service_files(DIRECTORY srv FILES SetMimic.srv From 2a5a134137e7b7aaefe67ce3748fc2b38c08f8f2 Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Wed, 9 Aug 2017 17:20:02 +0200 Subject: [PATCH 08/52] remove cob_head_axis --- cob_head_axis/CHANGELOG.rst | 159 ----- cob_head_axis/CMakeLists.txt | 24 - .../common/include/cob_head_axis/ElmoCtrl.h | 255 -------- cob_head_axis/common/src/ElmoCtrl.cpp | 436 -------------- cob_head_axis/package.xml | 30 - cob_head_axis/ros/src/cob_head_axis.cpp | 560 ------------------ cob_head_axis/ros/src/dummy_head.py | 37 -- 7 files changed, 1501 deletions(-) delete mode 100644 cob_head_axis/CHANGELOG.rst delete mode 100644 cob_head_axis/CMakeLists.txt delete mode 100644 cob_head_axis/common/include/cob_head_axis/ElmoCtrl.h delete mode 100644 cob_head_axis/common/src/ElmoCtrl.cpp delete mode 100644 cob_head_axis/package.xml delete mode 100644 cob_head_axis/ros/src/cob_head_axis.cpp delete mode 100755 cob_head_axis/ros/src/dummy_head.py diff --git a/cob_head_axis/CHANGELOG.rst b/cob_head_axis/CHANGELOG.rst deleted file mode 100644 index 751c2514b..000000000 --- a/cob_head_axis/CHANGELOG.rst +++ /dev/null @@ -1,159 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package cob_head_axis -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.6.8 (2016-10-10) ------------------- - -0.6.7 (2016-04-02) ------------------- - -0.6.6 (2016-04-01) ------------------- - -0.6.5 (2015-08-31) ------------------- - -0.6.4 (2015-08-25) ------------------- -* rising no longer supported -* boost revision -* do not install headers in executable-only packages -* explicit dependency to boost -* more cleanup -* remove obsolete autogenerated mainpage.dox files -* catkin_package according to install tags -* remove trailing whitespaces -* add_dependencies EXPORTED_TARGETS -* migrate to package format 2 -* sort dependencies -* critically review dependencies -* Contributors: ipa-fxm, ipa-nhg - -0.6.3 (2015-06-17) ------------------- -* fix topic names -* use new Trigger from std_srvs -* cleanup cob_srvs -* adapt cob_head_axis to new namespaces -* Contributors: ipa-fxm, ipa-nhg - -0.6.2 (2014-12-15) ------------------- - -0.6.1 (2014-09-17) ------------------- - -0.6.0 (2014-09-09) ------------------- - -0.5.7 (2014-08-26) ------------------- -* Merge pull request `#163 `_ from ipa320/hydro_dev - updates from hydro_dev -* 0.5.6 -* update changelog -* added explicit default argument queue_size -* Cleaned up cob_driver with reduced deps to compile on indigo -* Contributors: Alexander Bubeck, Felix Messmer, Florian Weisshardt - -0.5.6 (2014-08-26) ------------------- -* Merge pull request `#163 `_ from ipa320/hydro_dev - updates from hydro_dev -* added explicit default argument queue_size -* Cleaned up cob_driver with reduced deps to compile on indigo -* Contributors: Alexander Bubeck, Felix Messmer, Florian Weisshardt - -0.5.3 (2014-03-31) ------------------- -* install tags -* cob_head_axis: tabs to spaces -* cob_head_axis: fix deprecated API in constructor -* Contributors: ipa-fxm, ipa-mig - -0.5.2 (2014-03-20) ------------------- - -0.5.1 (2014-03-20) ------------------- -* cherry-pick -* removed a lot of code related to packages not available in hydro anymore -* output long unsigned variables correctly -* upstream changes -* Merge branch 'groovy_dev' of git://github.com/ipa320/cob_driver into groovy_dev -* fixed build errors for gcc version >= 4.7 -* trying to fix quantal compilation -* merged with upstream -* Fixed diagnostic error for head_axis -* trying to get error state out of head axis -* cleaned up CMakeLists and added install directives -* further modifications for catkin, now everything is compiling and linking -* futher include and linkpath modifications -* compiling but still some linker errors -* Second catkinization push -* First catkinization, still need to update some CMakeLists.txt -* dirty hack for fixing joint direction -* fix finish bug in head axis -* fix finish bug in head axis -* added effort to joint states message -* remove deprecated link to urdf -* switched from pr2_controllers_msgs::JointTrajectoryAction to control_msgs::FollowJointTrajectory -* removed outdated file - not used anymore -* fix actionserver bug with early success -* beautyfing -* partial fix for head axis -* fix for crash if stop is executed before init -* add state topic for head_axis -* changes for fuerte compatibility -* remove deprecated tests -* delete old in iand yaml files -* added diagnotic topic for initialization states for sdh -* move to private namespace -* private nodehandle -* merge -* adde env ROBOT to test -* added roslaunch tests -* added cob3-4 configs -* removed compiler warnings -* cob_head_axis: turning to 0deg after homing -* cob_head_axis: removed homing-sleep -* added rostest -* modifications for fetch and carry -* update cob3-3 -* dummy head axis -* adaptions for cob_head_axis on cob3-3, included some new parameters instead of hard-coded settings -* update for cob3-3 -* rearranging cob_camera_sensors launch files -* update for cob3-3 -* add services and return true for recover after init -* changed test duration to 10s -* camera settings added for head -* changed head params for cob3-2 -* moved init test to cob_srvs -* wrong namespace in test file -* modified parameters -* modified parameters -* modified tests -* release update for cob3-1 -* merge -* changed device for head axis -* adjust devices for cob3-1 -* changed trigger service -* joint_state aggregator working on cob3-1, calibration script update -* cleanup in cob_driver -* Moved hard-coded lines for head_axis_homing from CanDriveHarmonica.cpp into ElmoCtrl.cpp. Removed debugger in base_drive_chain.launch and undercarriage_ctrl.launch -* Head axis working, tested on cob3-1 but adapted parameters (-files) should work on both robots -* merge -* HeadAxis working -* bugfix -* Cleaned cob_head_axis yaml-files -* merge -* removed unused parameters -* cob_head_axis: set offset via urdf and chose can-device-path via ini-File -* cob_camera_axis tested, now also is able to be shut down -* cob_head_axis working -* cob_head_axis working -* cob_head_axis: correctly working, but front and back is switched -* renamed camera_axis to head_axis and platform to base -* Contributors: Alexander Bubeck, Felix Messmer, Frederik Hegger, Richard Bormann, abubeck, cpc-pk, fmw-jk, ipa-bnm, ipa-cob3-4, ipa-cob3-5, ipa-fmw, ipa-fxm, ipa-goa, ipa-mig, ipa-uhr diff --git a/cob_head_axis/CMakeLists.txt b/cob_head_axis/CMakeLists.txt deleted file mode 100644 index 07f96c6d0..000000000 --- a/cob_head_axis/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cob_head_axis) - -find_package(catkin REQUIRED COMPONENTS actionlib cob_canopen_motor cob_generic_can cob_srvs cob_utilities control_msgs diagnostic_msgs roscpp sensor_msgs std_srvs urdf) - -catkin_package() - -### BUILD ### -include_directories(common/include ${catkin_INCLUDE_DIRS}) - -add_executable(${PROJECT_NAME}_node ros/src/${PROJECT_NAME}.cpp common/src/ElmoCtrl.cpp) -add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) -target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES}) - -### INSTALL ### -install(TARGETS ${PROJECT_NAME}_node - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(PROGRAMS ros/src/dummy_head.py - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/cob_head_axis/common/include/cob_head_axis/ElmoCtrl.h b/cob_head_axis/common/include/cob_head_axis/ElmoCtrl.h deleted file mode 100644 index ad2fb8ca0..000000000 --- a/cob_head_axis/common/include/cob_head_axis/ElmoCtrl.h +++ /dev/null @@ -1,255 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#ifndef __ELMO_CTRL_H__ -#define __ELMO_CTRL_H__ -#define NTCAN_CLEAN_NAMESPACE -#include -#include -#include -#include -#include -#include - -// Headers provided by cob-packages which should be avoided/removed^M -#include -#include - - -typedef struct _CanOpenAddress -{ - int TxPDO1; - int TxPDO2; - int RxPDO2; - int TxSDO; - int RxSDO; -} CanOpenAddress; - -class ElmoCtrl; - -typedef struct -{ - ElmoCtrl * pElmoCtrl; -} ElmoThreadArgs; - - -class ElmoCtrlParams -{ - - public: - ElmoCtrlParams(){;} - - int Init(std::string CanDevice, int BaudRate, int ModuleID) - { - SetCanDevice(CanDevice); - SetBaudRate(BaudRate); - SetModuleID(ModuleID); - return 0; - } - - //Can Device - void SetCanDevice(std::string CanDevice){m_CanDevice = CanDevice;} - std::string GetCanDevice(){return m_CanDevice;} - - //BaudRate - void SetBaudRate(int BaudRate){m_BaudRate=BaudRate;} - int GetBaudRate(){return m_BaudRate;} - - //ModuleIDs - int GetModuleID(){return m_ModuleID;} - void SetModuleID(int id){m_ModuleID = id;} - - //Angular Constraints - void SetUpperLimit(double UpperLimit){m_UpperLimit = UpperLimit;} - void SetLowerLimit(double LowerLimit){m_LowerLimit = LowerLimit;} - void SetAngleOffset(double AngleOffset){m_Offset = AngleOffset;} - double GetUpperLimit(){return m_UpperLimit;} - double GetLowerLimit(){return m_LowerLimit;} - double GetAngleOffset(){return m_Offset;} - - //Velocity - void SetMaxVel(double maxVel){m_MaxVel = maxVel;} - double GetMaxVel(){return m_MaxVel;} - - //HomingDir - void SetHomingDir(int dir){m_HomingDir = dir;} - int GetHomingDir(){return m_HomingDir;} - - //HomingDigIn - void SetHomingDigIn(int dig_in){m_HomingDigIn = dig_in;} - int GetHomingDigIn(){return m_HomingDigIn;} - - //CanIniFile - void SetCanIniFile(std::string iniFile){m_CanIniFile=iniFile;} - std::string GetCanIniFile(){return m_CanIniFile;} - - //Encoder increments - void SetEncoderIncrements(int enc_incr){m_EncIncrPerRevMot = enc_incr;} - int GetEncoderIncrements(){return m_EncIncrPerRevMot;} - - //Belt & Gear ratio in one - void SetGearRatio(double gear_ratio){m_GearRatio = gear_ratio;} - double GetGearRatio(){return m_GearRatio;} - - //Motor direction - void SetMotorDirection(int motor_dir){ - if(motor_dir<0) m_MotorDirection = -1; - else m_MotorDirection = 1; - } - int GetMotorDirection(){return m_MotorDirection;} - - - - - private: - int m_ModuleID; - std::string m_CanDevice; - int m_BaudRate; - int m_HomingDir; - int m_HomingDigIn; - int m_EncIncrPerRevMot; - int m_MotorDirection; - double m_GearRatio; - double m_Offset; - double m_UpperLimit; - double m_LowerLimit; - double m_MaxVel; - std::string m_CanIniFile; - -}; - -class ElmoCtrl -{ - -public: - ElmoCtrl(); - ~ElmoCtrl(); - - bool Init(ElmoCtrlParams* params, bool home = true); - - - double MoveJointSpace (double PosRad); - - - bool Home(); - - bool RecoverAfterEmergencyStop(); - - bool Stop(); - - - void setMaxVelocity(float radpersec) - { - m_MaxVel = radpersec; - } - - /** - * Gets the position and velocity. - * @param pdAngleGearRad joint-position in radian - * @param pdVelGearRadS joint-velocity in radian per second - */ - int getGearPosVelRadS(double* pdAngleGearRad, double* pdVelGearRadS); - - /** - * Sets required position and veolocity. - * Use this function only in position mode. - */ - int setGearPosVelRadS(double dPosRad, double dVelRadS); - - /** - * Triggers evaluation of the can-buffer. - */ - int evalCanBuffer(); - - //_double getConfig(); - - double getJointVelocity(); - - - - bool SetMotionCtrlType(int type); - int GetMotionCtrlType(); - bool isError() ; - - - enum { - POS_CTRL, - VEL_CTRL - } MOTION_CTRL_TYPE; - - - CANPeakSysUSB* GetCanCtrl(){return m_CanCtrl;} - //CanESD* GetCanCtrl(){return m_CanCtrl;} - //bool m_ElmoCtrlThreadActive; - /// @brief joint mutexes - //pthread_mutex_t m_cs_elmoCtrlIO; - CanDriveHarmonica * m_Joint; - -private: - - bool sendNetStartCanOpen(CanItf* canCtrl); - - int m_MotionCtrlType; - - DriveParam * m_JointParams; - - int m_CanBaseAddress; - CanOpenAddress m_CanAddress; - - CANPeakSysUSB * m_CanCtrl; - //CanESD * m_CanCtrl; - - double m_MaxVel; - int m_HomingDir; - int m_HomingDigIn; - int m_EncIncrPerRevMot; - int m_MotorDirection; - double m_GearRatio; - - double m_UpperLimit; - double m_LowerLimit; - double m_JointOffset; - /* - Jointd* m_CurrentAngularVelocity; - /// @brief current joint angles - Jointd* m_CurrentJointAngles; - */ - /// @brief joint mutexes - pthread_mutex_t m_Mutex; - /// @brief joint velocity mutexes - //pthread_mutex_t m_AngularVel_Mutex; - /// @brief Thread IDs for PowerCube connection threads - //pthread_t m_ElmoThreadID; - /// @brief Arguments for Powercube connection Threads - //ElmoThreadArgs * m_ElmoCtrlThreadArgs; - ElmoCtrlParams * m_Params; - CanMsg m_CanMsgRec; - - - /// @brief the logfile for debugging info & errors: - -}; - - - - - - - - - -#endif //__ELMO_CTRL_H__ diff --git a/cob_head_axis/common/src/ElmoCtrl.cpp b/cob_head_axis/common/src/ElmoCtrl.cpp deleted file mode 100644 index 29d094d1c..000000000 --- a/cob_head_axis/common/src/ElmoCtrl.cpp +++ /dev/null @@ -1,436 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#include -#include -#include -#include - -using namespace std; - -void Sleep(int msecs){usleep(1000*msecs);} - -bool ElmoCtrl::sendNetStartCanOpen(CanItf* canCtrl) { - bool ret = false; - - CanMsg msg; - - msg.m_iID = 0; - msg.m_iLen = 2; - msg.set(1,0,0,0,0,0,0,0); - ret = canCtrl->transmitMsg(msg, false); - - usleep(100000); - - return ret; -} - - -ElmoCtrl::ElmoCtrl() { - m_Joint = NULL; - m_JointParams = NULL; - m_CanCtrl = NULL; - m_CanBaseAddress = 0; - m_MotionCtrlType = POS_CTRL; - m_MaxVel = 2.0; - m_Params = NULL; -} - -ElmoCtrl::~ElmoCtrl() { - if (m_Joint) - m_Joint->shutdown(); - delete m_Joint; - if (m_JointParams) - delete m_JointParams; - if (m_CanCtrl) - delete m_CanCtrl; -} - -bool ElmoCtrl::Home() -{ - bool success = false; - if (m_Joint != NULL) { - //THIS is needed for head_axis on cob3-2! - //set input logic to 'general purpose' - m_Joint->IntprtSetInt(8, 'I', 'L', 2, 7); - usleep(20000); - - //THIS is needed for cob3-3 (it's using DIN1): - //set input logic to 'general purpose' - m_Joint->IntprtSetInt(8, 'I', 'L', 1, 6); - usleep(20000); - - m_Joint->initHoming(); - } - - //ToDo: UHR: necessary? - Sleep(10); - printf("ElmoCtrl: Home(): Homing Vel = %f\n",m_HomingDir*0.3); - m_Joint->setGearVelRadS(m_HomingDir*0.3); - //cpc-pk: removed this sleep, it's not necessary to leave home-sensor during homing - //Sleep(750); - success = m_Joint->execHoming(); - m_Joint->setGearVelRadS(0.0); - - return success; -} - - -int ElmoCtrl::evalCanBuffer() { - bool bRet; - - //pthread_mutex_lock(&(m_Mutex)); - - // as long as there is something in the can buffer -> read out next message - while(m_CanCtrl->receiveMsg(&m_CanMsgRec) == true) { - bRet = false; - // check if the message belongs to head_axis motor - bRet |= m_Joint->evalReceivedMsg(m_CanMsgRec); - - if (bRet == true) { - } else std::cout << "cob_head_axis: Unknown CAN-msg: " << m_CanMsgRec.m_iID << " " << (int)m_CanMsgRec.getAt(0) << " " << (int)m_CanMsgRec.getAt(1) << std::endl; - } - - //pthread_mutex_unlock(&(m_Mutex)); - - return 0; -} - -bool ElmoCtrl::RecoverAfterEmergencyStop() { - - bool success = false; - printf("Resetting motor ...\n"); - success = m_Joint->start(); - if (!success) { - printf("failed!\n"); - } else { - printf("successful\n"); - m_Joint->setGearVelRadS(0); - } - Sleep(1000); - return success; -} - - -bool ElmoCtrl::Init(ElmoCtrlParams * params, bool home) { //home = true by default - bool success = false; - string CanIniFile; - string CanDevice; - int baudrate = 0; - - m_Params = params; - - if (params == NULL) { - printf("ElmoCtrlParams:Error:%s:%d:, invalid parameters!\n",__FILE__,__LINE__); - success = false; - } else { - success = true; - } - - if (success) { - printf( "------------ ElmoCtrl Init ---------------\n"); - - //Allocate memory and read params e.g. gotten from ROS parameter server - m_Joint = new CanDriveHarmonica(); - m_JointParams = new DriveParam(); - m_CanBaseAddress = params->GetModuleID(); - CanIniFile = params->GetCanIniFile(); - m_MaxVel = params->GetMaxVel(); - m_HomingDir = params->GetHomingDir(); - m_HomingDigIn = params->GetHomingDigIn(); - - m_EncIncrPerRevMot = params->GetEncoderIncrements(); - m_MotorDirection = params->GetMotorDirection(); - m_GearRatio = params->GetGearRatio(); - - if (CanIniFile.length() == 0) { - printf("%s,%d:Error: Parameter 'CanIniFile' not given!\n",__FILE__,__LINE__); - success = false; - } - - CanDevice = params->GetCanDevice(); - if (CanDevice.length() == 0) { - printf("%s,%d:Error: Parameter 'Can-Device' not given!\n",__FILE__,__LINE__); - success = false; - } - - baudrate = params->GetBaudRate(); - if (baudrate == 0) { - printf("%s,%d:Error: Parameter 'Baud-Rate' not given!\n",__FILE__,__LINE__); - success = false; - } - - //Setting motor model data - if (success) { - m_JointOffset = params->GetAngleOffset(); - m_UpperLimit = params->GetUpperLimit(); - m_LowerLimit = params->GetLowerLimit(); - } - - if (success) { - printf("The following parameters were successfully read from the parameter server (given through *params): \n"); - printf("CanIniFile: %s\n",CanIniFile.c_str()); - printf("CanDieODvice: %s\n",CanDevice.c_str()); - printf("Baudrate: %d\n",baudrate); - printf("Module ID: %d\n",m_CanBaseAddress); - printf("Max Vel: %f\n",m_MaxVel); - printf("Homing Dir: %d\n",m_HomingDir); - printf("HomingDigIn: %d\n",m_HomingDigIn); - printf("Offset/Limit(min/max) %f/(%f,%f)\n",m_JointOffset,m_LowerLimit,m_UpperLimit); - } - } - - //Setting up CAN interface - - if (success) { - //m_CanCtrl = new CanESD(CanIniFile.c_str(), false); - m_CanCtrl = new CANPeakSysUSB(CanIniFile.c_str()); - if (m_CanCtrl == NULL) { - printf("%s,%d:Error: Could not open Can Device!\n",__FILE__,__LINE__); - success = false; - } - } - - if (success) { - /* WRONG CAN-identifiers - //m_CanBaseAddress = params->GetModulID(i); - m_CanAddress.TxPDO1 = 0x181 + m_CanBaseAddress -1; - m_CanAddress.TxPDO2 = 0x285 + m_CanBaseAddress -1; - m_CanAddress.RxPDO2 = 0x301 + m_CanBaseAddress -1; - m_CanAddress.TxSDO = 0x491 + m_CanBaseAddress -1; - m_CanAddress.RxSDO = 0x511 + m_CanBaseAddress -1; - */ - m_CanAddress.TxPDO1 = 0x181 + m_CanBaseAddress -1; - m_CanAddress.TxPDO2 = 0x281 + m_CanBaseAddress -1; - m_CanAddress.RxPDO2 = 0x301 + m_CanBaseAddress -1; - m_CanAddress.TxSDO = 0x581 + m_CanBaseAddress -1; - m_CanAddress.RxSDO = 0x601 + m_CanBaseAddress -1; - m_Joint->setCanItf(m_CanCtrl); - m_Joint->setCanOpenParam(m_CanAddress.TxPDO1, - m_CanAddress.TxPDO2, - m_CanAddress.RxPDO2, - m_CanAddress.TxSDO, - m_CanAddress.RxSDO ); - - printf("CanAdresses set to %d (Base), %x, %x, %x, %x, %x...\n", m_CanBaseAddress, - m_CanAddress.TxPDO1, - m_CanAddress.TxPDO2, - m_CanAddress.RxPDO2, - m_CanAddress.TxSDO, - m_CanAddress.RxSDO); - - } - - if (success) { - success = sendNetStartCanOpen(m_CanCtrl); - } - - if (success) { - //ToDo: Read from File! - /* - int iDriveIdent, - int iEncIncrPerRevMot, - double dVelMeasFrqHz, - double dBeltRatio, - double dGearRatio, - int iSign, - double dVelMaxEncIncrS, - double dAccIncrS2, - double dDecIncrS2, - int iEncOffsetIncr, - bool bIsSteer, - double dCurrToTorque, - double dCurrMax, - int iHomingDigIn - */ - -/* - m_JointParams->setParam( //parameters taken from CanCtrl.ini - 0, //int iDriveIdent, - 4096,//int iEncIncrPerRevMot, - 1,//double dVelMeasFrqHz, - 1,//double dBeltRatio, - 47.77,//double dGearRatio, - -1.0,//int iSign, - 740000,//double dVelMaxEncIncrS, - 1000000,//80000,//double dAccIncrS2, - 1000000,//80000//double dDecIncrS2), - 0, //int iEncOffsetIncr - true, // bool bIsSteer - 0, // double dCurrToTorque - 0, // double dCurrMax - m_HomingDigIn // int iHomingDigIn //cob3-2->11, cob3-1->9 - ); -*/ - - m_JointParams->setParam( //parameters taken from CanCtrl.ini - 0, //int iDriveIdent, - m_EncIncrPerRevMot,//int iEncIncrPerRevMot, - 1,//double dVelMeasFrqHz, - 1,//double dBeltRatio, - m_GearRatio,//double dGearRatio, - m_MotorDirection,//int iSign, - 74000000,//double dVelMaxEncIncrS, - 1000000,//80000,//double dAccIncrS2, - 1000000,//80000//double dDecIncrS2), - 0, //int iEncOffsetIncr - true, // bool bIsSteer - 0, // double dCurrToTorque - 0, // double dm_HomingDigInCurrMax - m_HomingDigIn // int iHomingDigIn //cob3-2->11, cob3-1->9 - ); - - - m_Joint->setDriveParam(*m_JointParams); - } - - if (success) - { - printf("Init motor ...\n"); - success = m_Joint->init(); - if (!success) - { - printf("failed!\n"); - } - else - { - printf("successful\n"); - } - } - - if (success) - success = SetMotionCtrlType(m_MotionCtrlType); - if(!success) std::cout << "Failed to SetMotionCtrlType to " << m_MotionCtrlType << std::endl; - - if (success) - { - printf("Starting motor ..\n"); - success = m_Joint->start(); - if (!success) - { - printf("failed!\n"); - } - else - { - printf("successful\n"); - m_Joint->setGearVelRadS(0); - } - } - //ToDo: UHR: necessary? - Sleep(1000); - - if (success && home) - { - std::cout << "Start homing procedure now.." << std::endl; - success = Home(); - } - //Thread init - if (success) - { - pthread_mutex_init(&m_Mutex,NULL); - } - - - return success; -} - -bool ElmoCtrl::SetMotionCtrlType(int type) -{ - m_MotionCtrlType = type; - bool success = false; - if (type == POS_CTRL) - { - success = m_Joint->shutdown(); - if (success) - success = m_Joint->setTypeMotion(CanDriveHarmonica::MOTIONTYPE_POSCTRL); - - //ToDo: necessary? - Sleep(100); - success = m_Joint->start(); - - } - else if (type == VEL_CTRL) - { - //UHR: ToDo - printf("%s%d:Error: Velocity control not implemented yet!\n",__FILE__,__LINE__); - success = false; - } - return success; -}; - - -int ElmoCtrl::GetMotionCtrlType() -{ - return m_MotionCtrlType; -} - -bool ElmoCtrl::isError() -{ - return m_Joint->isError(); -} - -int ElmoCtrl::getGearPosVelRadS( double* pdAngleGearRad, double* pdVelGearRadS) -{ - - // init default outputs - *pdAngleGearRad = 0; - *pdVelGearRadS = 0; - - m_Joint->getGearPosVelRadS(pdAngleGearRad, pdVelGearRadS); - *pdAngleGearRad = *pdAngleGearRad - m_JointOffset; - - return 0; -} - -//----------------------------------------------- - -int ElmoCtrl:: setGearPosVelRadS(double dPosRad, double dVelRadS) -{ - - if(dPosRad< m_LowerLimit) { - std::cout << "Position under LowerBound -> set up" << std::endl; - dPosRad = m_LowerLimit; - } else if(dPosRad > m_UpperLimit) { - std::cout << "Position over UpperBound -> set down" << std::endl; - dPosRad = m_UpperLimit; - } - - if(dVelRadS > m_MaxVel) - dVelRadS = m_MaxVel; - else if(dVelRadS < -m_MaxVel) - dVelRadS = -m_MaxVel; - - //COB3-2: m_Joint->setGearPosVelRadS(dPosRad + m_JointOffset, dVelRadS); - - //COB3-1: m_Joint->setGearPosVelRadS(-3.141592654 - dPosRad + m_JointOffset, dVelRadS); - printf("ElmoCtrl:setGearPosVelRadS: dPosRad %f with vel %f\n",dPosRad, dVelRadS); - m_Joint->setGearPosVelRadS(m_HomingDir * dPosRad + m_JointOffset, dVelRadS); - return 0; -} - -bool ElmoCtrl::Stop() -{ - //UHR: ToDo: what happens exactly in this method? Sudden stop? - double pos = 0.0; - double vel = 0.0; - m_Joint->getGearPosVelRadS(&pos,&vel); - m_Joint->setGearPosVelRadS(pos,0); - - return true; - //m_Joint[i]->shutdown(); - -} diff --git a/cob_head_axis/package.xml b/cob_head_axis/package.xml deleted file mode 100644 index 1b3691ca0..000000000 --- a/cob_head_axis/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - cob_head_axis - 0.6.8 - cob_head_axis - - Apache 2.0 - - http://ros.org/wiki/cob_head_axis - - - Matthias Gruhler - Ulrich Reiser - - catkin - - actionlib - cob_canopen_motor - cob_generic_can - cob_srvs - cob_utilities - control_msgs - diagnostic_msgs - roscpp - sensor_msgs - std_srvs - urdf - - rospy - - diff --git a/cob_head_axis/ros/src/cob_head_axis.cpp b/cob_head_axis/ros/src/cob_head_axis.cpp deleted file mode 100644 index 293c62d4f..000000000 --- a/cob_head_axis/ros/src/cob_head_axis.cpp +++ /dev/null @@ -1,560 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -//################## -//#### includes #### - -// standard includes -//-- - -// ROS includes -#include -#include -#include - -// ROS message includes -#include -#include -#include -#include - -// ROS service includes -#include -#include -#include - -// external includes -#include - -#include - -//#################### -//#### node class #### -class NodeClass -{ - // - public: - // create a handle for this node, initialize node - ros::NodeHandle n_; - ros::NodeHandle n_private_; - - // declaration of topics to publish - ros::Publisher topicPub_JointState_; - ros::Publisher topicPub_ControllerState_; - ros::Publisher topicPub_Diagnostic_; - - // declaration of topics to subscribe, callback is called for new messages arriving - ros::Subscriber topicSub_JointCommand_; - - // declaration of service servers - ros::ServiceServer srvServer_Init_; - ros::ServiceServer srvServer_Stop_; - ros::ServiceServer srvServer_Recover_; - ros::ServiceServer srvServer_SetOperationMode_; - ros::ServiceServer srvServer_SetDefaultVel_; - - // declaration of service clients - //-- - - // action lib server - actionlib::SimpleActionServer as_; - std::string action_name_; - control_msgs::FollowJointTrajectoryFeedback feedback_; - control_msgs::FollowJointTrajectoryResult result_; - - // global variables - ElmoCtrl * CamAxis_; - ElmoCtrlParams* CamAxisParams_; - - std::string CanDevice_; - std::string CanIniFile_; - int CanBaudrate_; - int HomingDir_; - int HomingDigIn_; - double MaxVel_; - int ModID_; - std::string operationMode_; - double LowerLimit_; - double UpperLimit_; - double Offset_; - int MotorDirection_; - int EnoderIncrementsPerRevMot_; - double GearRatio_; - - std::string JointName_; - bool isInitialized_; - bool isError_; - bool finished_; - double ActualPos_; - double ActualVel_; - double GoalPos_; - trajectory_msgs::JointTrajectory traj_; - trajectory_msgs::JointTrajectoryPoint traj_point_; - unsigned int traj_point_nr_; - - // Constructor - NodeClass(): - as_(n_, "joint_trajectory_controller/follow_joint_trajectory", boost::bind(&NodeClass::executeCB, this, _1), false), - action_name_("follow_joint_trajectory") - { - n_private_ = ros::NodeHandle("~"); - - isInitialized_ = false; - isError_ = false; - ActualPos_=0.0; - ActualVel_=0.0; - - CamAxis_ = new ElmoCtrl(); - CamAxisParams_ = new ElmoCtrlParams(); - - // implementation of topics to publish - topicPub_JointState_ = n_.advertise("joint_states", 1); - topicPub_ControllerState_ = n_.advertise("joint_trajectory_controller/state", 1); - topicPub_Diagnostic_ = n_.advertise("diagnostics", 1); - - - // implementation of topics to subscribe - - // implementation of service servers - srvServer_Init_ = n_.advertiseService("driver/init", &NodeClass::srvCallback_Init, this); - srvServer_Stop_ = n_.advertiseService("driver/stop", &NodeClass::srvCallback_Stop, this); - srvServer_Recover_ = n_.advertiseService("driver/recover", &NodeClass::srvCallback_Recover, this); - srvServer_SetOperationMode_ = n_.advertiseService("driver/set_operation_mode", &NodeClass::srvCallback_SetOperationMode, this); - srvServer_SetDefaultVel_ = n_.advertiseService("driver/set_default_vel", &NodeClass::srvCallback_SetDefaultVel, this); - - // implementation of service clients - //-- - - // read parameters from parameter server - ROS_INFO("Namespace: %s", n_private_.getNamespace().c_str()); - if(!n_private_.hasParam("EnoderIncrementsPerRevMot")) ROS_WARN("cob_head_axis: couldn't find parameter EnoderIncrementsPerRevMot, check if ALL parameters have been set correctly"); - - n_private_.param("CanDevice", CanDevice_, "PCAN"); - n_private_.param("CanBaudrate", CanBaudrate_, 500); - n_private_.param("HomingDir", HomingDir_, 1); - n_private_.param("HomingDigIn", HomingDigIn_, 11); - n_private_.param("ModId",ModID_, 17); - n_private_.param("JointName",JointName_, "head_axis_joint"); - n_private_.param("CanIniFile",CanIniFile_, "/"); - n_private_.param("operation_mode",operationMode_, "position"); - n_private_.param("MotorDirection",MotorDirection_, 1); - n_private_.param("GearRatio",GearRatio_, 62.5); - n_private_.param("EnoderIncrementsPerRevMot",EnoderIncrementsPerRevMot_, 4096); - - ROS_INFO("CanDevice=%s, CanBaudrate=%d, ModID=%d, HomingDigIn=%d",CanDevice_.c_str(),CanBaudrate_,ModID_,HomingDigIn_); - - - // load parameter server string for robot/model - std::string xml_string; - n_.getParam("/robot_description",xml_string); - if (xml_string.size()==0) - { - ROS_ERROR("Unable to load robot model from param server robot_description\n"); - exit(2); - } - - // extract limits and velocitys from urdf model - urdf::Model model; - if (!model.initString(xml_string)) - { - ROS_ERROR("Failed to parse urdf file"); - exit(2); - } - ROS_INFO("Successfully parsed urdf file"); - - // get LowerLimits out of urdf model - LowerLimit_ = model.getJoint(JointName_.c_str())->limits->lower; - //std::cout << "LowerLimits[" << JointNames[i].c_str() << "] = " << LowerLimits[i] << std::endl; - CamAxisParams_->SetLowerLimit(LowerLimit_); - - // get UpperLimits out of urdf model - UpperLimit_ = model.getJoint(JointName_.c_str())->limits->upper; - //std::cout << "LowerLimits[" << JointNames[i].c_str() << "] = " << LowerLimits[i] << std::endl; - CamAxisParams_->SetUpperLimit(UpperLimit_); - - // get Offset out of urdf model - //calibration rising no longer supported - //Offset_ = model.getJoint(JointName_.c_str())->calibration->rising.get()[0]; - Offset_ = 0.0; - //std::cout << "Offset[" << JointNames[i].c_str() << "] = " << Offsets[i] << std::endl; - CamAxisParams_->SetAngleOffset(Offset_); - - // get velocitiy out of urdf model - MaxVel_ = model.getJoint(JointName_.c_str())->limits->velocity; - ROS_INFO("Successfully read limits from urdf"); - - - //initializing and homing of camera_axis - CamAxisParams_->SetCanIniFile(CanIniFile_); - CamAxisParams_->SetHomingDir(HomingDir_); - CamAxisParams_->SetHomingDigIn(HomingDigIn_); - CamAxisParams_->SetMaxVel(MaxVel_); - CamAxisParams_->SetGearRatio(GearRatio_); - CamAxisParams_->SetMotorDirection(MotorDirection_); - CamAxisParams_->SetEncoderIncrements(EnoderIncrementsPerRevMot_); - - CamAxisParams_->Init(CanDevice_, CanBaudrate_, ModID_); - - - //finally start action_server - as_.start(); - } - - // Destructor - ~NodeClass() - { - delete CamAxis_; - } - - void executeCB(const control_msgs::FollowJointTrajectoryGoalConstPtr &goal) { - if(isInitialized_) { - ROS_INFO("Received new goal trajectory with %lu points",goal->trajectory.points.size()); - // saving goal into local variables - traj_ = goal->trajectory; - traj_point_nr_ = 0; - traj_point_ = traj_.points[traj_point_nr_]; - GoalPos_ = traj_point_.positions[0]; - finished_ = false; - - // stoping axis to prepare for new trajectory - CamAxis_->Stop(); - - // check that preempt has not been requested by the client - if (as_.isPreemptRequested()) - { - ROS_INFO("%s: Preempted %s", n_.getNamespace().c_str(), action_name_.c_str()); - // set the action state to preempted - as_.setPreempted(); - } - - usleep(2000000); // needed sleep until drive starts to change status from idle to moving - - while (not finished_) - { - if (as_.isNewGoalAvailable()) - { - ROS_WARN("%s: Aborted %s", n_.getNamespace().c_str(), action_name_.c_str()); - as_.setAborted(); - return; - } - usleep(10000); - //feedback_ = - //as_.send feedback_ - } - - // set the action state to succeed - //result_.result.data = "executing trajectory"; - ROS_INFO("%s: Succeeded %s", n_.getNamespace().c_str(), action_name_.c_str()); - // set the action state to succeeded - as_.setSucceeded(result_); - - } else { - as_.setAborted(); - ROS_WARN("Camera_axis not initialized yet!"); - } - } - - // service callback functions - // function will be called when a service is querried - bool srvCallback_Init(std_srvs::Trigger::Request &req, - std_srvs::Trigger::Response &res ) - { - if (isInitialized_ == false) { - ROS_INFO("...initializing camera axis..."); - // init axis - if (CamAxis_->Init(CamAxisParams_)) - { - CamAxis_->setGearPosVelRadS(0.0f, MaxVel_); - ROS_INFO("Initializing of camera axis successfully"); - isInitialized_ = true; - res.success = true; - res.message = "initializing camera axis successfully"; - } - else - { - ROS_ERROR("Initializing camera axis not successfully \n"); - res.success = false; - res.message = "initializing camera axis not successfully"; - } - } - else - { - ROS_WARN("...camera axis already initialized..."); - res.success = true; - res.message = "camera axis already initialized"; - } - - return true; - } - - bool srvCallback_Stop(std_srvs::Trigger::Request &req, - std_srvs::Trigger::Response &res ) - { - ROS_INFO("Stopping camera axis"); - if(isInitialized_) - { - // stopping all movements - if (CamAxis_->Stop()) { - ROS_INFO("Stopping camera axis successfully"); - res.success = true; - res.message = "camera axis stopped successfully"; - } - else { - ROS_ERROR("Stopping camera axis not successfully. error"); - res.success = false; - res.message = "stopping camera axis not successfully"; - } - } - return true; - } - - bool srvCallback_Recover(std_srvs::Trigger::Request &req, - std_srvs::Trigger::Response &res ) - { - if (isInitialized_) { - ROS_INFO("Recovering camera axis"); - - // stopping all arm movements - if (CamAxis_->RecoverAfterEmergencyStop()) { - ROS_INFO("Recovering camera axis successfully"); - res.success = true; - res.message = "camera axis successfully recovered"; - } else { - ROS_ERROR("Recovering camera axis not successfully. error"); - res.success = false; - res.message = "recovering camera axis failed"; - } - } else { - ROS_WARN("...camera axis already recovered..."); - res.success = true; - res.message = "camera axis already recovered"; - } - - return true; - } - - /*! - * \brief Executes the service callback for set_operation_mode. - * - * Changes the operation mode. - * \param req Service request - * \param res Service response - */ - bool srvCallback_SetOperationMode( cob_srvs::SetString::Request &req, - cob_srvs::SetString::Response &res ) - { - ROS_INFO("Set operation mode to [%s]", req.data.c_str()); - n_.setParam("operation_mode", req.data.c_str()); - res.success = true; // 0 = true, else = false - return true; - } - - /*! - * \brief Executes the service callback for set_default_vel. - * - * Sets the default velocity. - * \param req Service request - * \param res Service response - */ - bool srvCallback_SetDefaultVel( cob_srvs::SetFloat::Request &req, - cob_srvs::SetFloat::Response &res ) - { - ROS_INFO("Set default velocity to [%f]", req.data); - MaxVel_ = req.data; - CamAxisParams_->SetMaxVel(MaxVel_); - CamAxis_->setMaxVelocity(MaxVel_); - res.success = true; // 0 = true, else = false - return true; - } - - // other function declarations - void updateCommands() - { - if (isInitialized_ == true) - { - if (operationMode_ == "position") - { - ROS_DEBUG("moving head_axis in position mode"); - - if (fabs(ActualVel_) < 0.02) - { - //feedback_.isMoving = false; - - ROS_DEBUG("next point is %d from %lu",traj_point_nr_,traj_.points.size()); - - if (traj_point_nr_ < traj_.points.size()) - { - // if axis is not moving and not reached last point of trajectory, then send new target point - ROS_INFO("...moving to trajectory point[%d], %f",traj_point_nr_,traj_.points[traj_point_nr_].positions[0]); - traj_point_ = traj_.points[traj_point_nr_]; - CamAxis_->setGearPosVelRadS(traj_point_.positions[0], MaxVel_); - usleep(900000); - CamAxis_->m_Joint->requestPosVel(); - traj_point_nr_++; - //feedback_.isMoving = true; - //feedback_.pointNr = traj_point_nr; - //as_.publishFeedback(feedback_); - } - else if ( fabs( fabs(ActualPos_) - fabs(GoalPos_) ) < 0.5*M_PI/180.0 && !finished_ ) - { - ROS_DEBUG("...reached end of trajectory"); - finished_ = true; - } - else - { - //do nothing until GoalPos_ is reached - } - } - else - { - ROS_DEBUG("...axis still moving to point[%d]",traj_point_nr_); - } - } - else if (operationMode_ == "velocity") - { - ROS_WARN("Moving in velocity mode currently disabled"); - } - else - { - ROS_ERROR("axis neither in position nor in velocity mode. OperationMode = [%s]", operationMode_.c_str()); - } - } - else - { - ROS_DEBUG("axis not initialized"); - } - } - - void publishJointState() - { - - if (isInitialized_ == true) { - isError_ = CamAxis_->isError(); - - // create message - int DOF = 1; - - CamAxis_->evalCanBuffer(); - CamAxis_->getGearPosVelRadS(&ActualPos_,&ActualVel_); - CamAxis_->m_Joint->requestPosVel(); - - // really bad hack - ActualPos_ = HomingDir_ * ActualPos_; - ActualVel_ = HomingDir_ * ActualVel_; - - sensor_msgs::JointState msg; - msg.header.stamp = ros::Time::now(); - msg.name.resize(DOF); - msg.position.resize(DOF); - msg.velocity.resize(DOF); - msg.effort.resize(DOF); - - msg.name[0] = JointName_; - msg.position[0] = ActualPos_; - msg.velocity[0] = ActualVel_; - msg.effort[0] = 0.0; - - - //std::cout << "Joint " << msg.name[0] <<": pos="<< msg.position[0] << " vel=" << msg.velocity[0] << std::endl; - - // publish message - topicPub_JointState_.publish(msg); - - // publish controller state message - control_msgs::JointTrajectoryControllerState controllermsg; - controllermsg.header = msg.header; - controllermsg.joint_names.resize(DOF); - controllermsg.desired.positions.resize(DOF); - controllermsg.desired.velocities.resize(DOF); - controllermsg.actual.positions.resize(DOF); - controllermsg.actual.velocities.resize(DOF); - controllermsg.error.positions.resize(DOF); - controllermsg.error.velocities.resize(DOF); - - controllermsg.joint_names = msg.name; - controllermsg.desired.positions = msg.position; - controllermsg.desired.velocities = msg.velocity; - controllermsg.actual.positions = msg.position; - controllermsg.actual.velocities = msg.velocity; - // error, calculated out of desired and actual values - for (int i = 0; i Date: Wed, 9 Aug 2017 17:20:22 +0200 Subject: [PATCH 09/52] update maintainer --- cob_driver/package.xml | 3 --- cob_mimic/package.xml | 2 +- cob_scan_unifier/package.xml | 3 +-- cob_sound/package.xml | 2 +- 4 files changed, 3 insertions(+), 7 deletions(-) diff --git a/cob_driver/package.xml b/cob_driver/package.xml index 00f2ab6b4..0b7ec21f7 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -9,8 +9,6 @@ Florian Weisshardt - Nadia Hammoudeh Garcia - Florian Weisshardt catkin @@ -20,7 +18,6 @@ cob_canopen_motor cob_elmo_homing cob_generic_can - cob_head_axis cob_light cob_mimic cob_phidgets diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index 128d51584..1c6d44418 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -7,7 +7,7 @@ http://ros.org/wiki/cob_mimic - Nadia Hammoudeh Garcia + Benjamin Maidel Nadia Hammoudeh Garcia Benjamin Maidel diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index 5e0c91ce3..9f702535a 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -5,11 +5,10 @@ The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Benjamin Maidel + Florian Mirus Apache 2.0 - Florian Mirus - catkin laser_geometry diff --git a/cob_sound/package.xml b/cob_sound/package.xml index e3b135be2..73f551484 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -8,7 +8,7 @@ http://ros.org/wiki/cob_sound - Nadia Hammoudeh Garcia + Benjamin Maidel Florian Weisshardt Benjamin Maidel From e1e6b1b0c7c072de6d705dac859eb594843417c5 Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Fri, 11 Aug 2017 18:36:03 +0200 Subject: [PATCH 10/52] double check username --- cob_mimic/src/mimic_node.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 0d0fb8a74..831849199 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -107,8 +107,12 @@ class Mimic char *lgn; if((lgn = getlogin()) == NULL) { - ROS_ERROR("unable to get user name"); - return false; + lgn = getenv("USER"); + if(lgn == NULL || std::string(lgn) == "") + { + ROS_ERROR("unable to get user name"); + return false; + } } std::string username(lgn); mimic_folder_ = "/tmp/mimic_" + username; From 0af068b94cf38275334d903d5e58aa2c9454c04c Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Fri, 11 Aug 2017 18:37:48 +0200 Subject: [PATCH 11/52] added random mimics --- cob_mimic/src/mimic_node.cpp | 22 +++++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 831849199..2c56c7596 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -33,13 +33,14 @@ #include #include #include +#include class Mimic { public: Mimic(): as_mimic_(nh_, ros::this_node::getName() + "/set_mimic", boost::bind(&Mimic::as_cb_mimic_, this, _1), false), - new_mimic_request_(false), dist_(2,10), sim_enabled_(false) + new_mimic_request_(false), sim_enabled_(false), real_dist_(2,10), int_dist_(0,6) { nh_ = ros::NodeHandle("~"); } @@ -59,6 +60,14 @@ class Mimic sim_enabled_ = nh_.param("sim", false); srvServer_mimic_ = nh_.advertiseService("set_mimic", &Mimic::service_cb_mimic, this); + random_mimics_.push_back("blinking"); + random_mimics_.push_back("blinking"); + random_mimics_.push_back("blinking"); + random_mimics_.push_back("blinking_left"); + random_mimics_.push_back("blinking_right"); + + int_dist_ = boost::random::uniform_int_distribution<>(0,static_cast(random_mimics_.size())-1); + char const *argv[] = { "--ignore-config", @@ -79,7 +88,7 @@ class Mimic if(!sim_enabled_) libvlc_set_fullscreen(vlc_player_, 1); set_mimic("default", 1, 1.0, false); - blinking_timer_ = nh_.createTimer(ros::Duration(dist_(gen_)), &Mimic::blinking_cb, this, true); + blinking_timer_ = nh_.createTimer(ros::Duration(real_dist_(gen_)), &Mimic::blinking_cb, this, true); as_mimic_.start(); return true; } @@ -100,7 +109,9 @@ class Mimic boost::mutex mutex_; boost::random::mt19937 gen_; - boost::random::uniform_real_distribution<> dist_; + boost::random::uniform_real_distribution<> real_dist_; + boost::random::uniform_int_distribution<> int_dist_; + std::vector random_mimics_; bool copy_mimic_files() { @@ -229,8 +240,9 @@ class Mimic void blinking_cb(const ros::TimerEvent&) { - set_mimic("blinking", 1, 1.5); - blinking_timer_ = nh_.createTimer(ros::Duration(dist_(gen_)), &Mimic::blinking_cb, this, true); + int rand = int_dist_(gen_); + set_mimic(random_mimics_[rand], 1, 1.5); + blinking_timer_ = nh_.createTimer(ros::Duration(real_dist_(gen_)), &Mimic::blinking_cb, this, true); } bool copy_dir( boost::filesystem::path const & source, From 51ab365aad385a0106fd7145afd03af65ab0c3a3 Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Fri, 11 Aug 2017 18:38:17 +0200 Subject: [PATCH 12/52] do not start blinking timer on sleeping or falling_asleep requests --- cob_mimic/src/mimic_node.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 2c56c7596..8500b29bd 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -164,7 +164,8 @@ class Mimic else as_mimic_.setAborted(); - blinking_timer_ = nh_.createTimer(ros::Duration(dist_(gen_)), &Mimic::blinking_cb, this, true); + if(goal->mimic != "falling_asleep" && goal->mimic != "sleeping") + blinking_timer_ = nh_.createTimer(ros::Duration(real_dist_(gen_)), &Mimic::blinking_cb, this, true); } bool service_cb_mimic(cob_mimic::SetMimic::Request &req, @@ -175,7 +176,8 @@ class Mimic res.success = set_mimic(req.mimic, req.repeat, req.speed); res.message = ""; - blinking_timer_ = nh_.createTimer(ros::Duration(dist_(gen_)), &Mimic::blinking_cb, this, true); + if(req.mimic != "falling_asleep" && req.mimic != "sleeping") + blinking_timer_ = nh_.createTimer(ros::Duration(real_dist_(gen_)), &Mimic::blinking_cb, this, true); return true; } From cf90633234ed79ee5448508e6859968be51d5f13 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Tue, 22 Aug 2017 08:50:27 +0200 Subject: [PATCH 13/52] readded python node for mimic --- cob_mimic/CMakeLists.txt | 4 + cob_mimic/package.xml | 1 + cob_mimic/src/mimic_node.py | 161 ++++++++++++++++++++++++++++++++++++ 3 files changed, 166 insertions(+) create mode 100755 cob_mimic/src/mimic_node.py diff --git a/cob_mimic/CMakeLists.txt b/cob_mimic/CMakeLists.txt index fc8645dbf..06dc34f15 100644 --- a/cob_mimic/CMakeLists.txt +++ b/cob_mimic/CMakeLists.txt @@ -42,3 +42,7 @@ install(PROGRAMS src/test_mimic.py install(DIRECTORY common DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) + +install(PROGRAMS src/mimic_node.py src/test_mimic.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/src +) \ No newline at end of file diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index 128d51584..b1364dfef 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -20,6 +20,7 @@ actionlib boost libvlc-dev + python-vlc-pip roscpp roslib vlc diff --git a/cob_mimic/src/mimic_node.py b/cob_mimic/src/mimic_node.py new file mode 100755 index 000000000..619b23445 --- /dev/null +++ b/cob_mimic/src/mimic_node.py @@ -0,0 +1,161 @@ +#!/usr/bin/python +################################################################# +##\file +# +# \note +# Copyright (c) 2010 \n +# Fraunhofer Institute for Manufacturing Engineering +# and Automation (IPA) \n\n +# +################################################################# +# +# \note +# Project name: Care-O-bot Research +# \note +# ROS stack name: cob_driver +# \note +# ROS package name: cob_mimic +# +# \author +# Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de +# \author +# Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de +# +# \date Date of creation: Nov 2014 +# +# \brief +# Implements script server functionalities. +# +################################################################# +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# - Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. \n +# - Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. \n +# - Neither the name of the Fraunhofer Institute for Manufacturing +# Engineering and Automation (IPA) nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. \n +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License LGPL as +# published by the Free Software Foundation, either version 3 of the +# License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License LGPL for more details. +# +# You should have received a copy of the GNU Lesser General Public +# License LGPL along with this program. +# If not, see < http://www.gnu.org/licenses/>. +# +################################################################# + +import os +import vlc +import threading + +import roslib +import rospy +import actionlib + +from cob_mimic.srv import * +from cob_mimic.msg import * + +class Mimic: + def __init__(self): + self.mutex = threading.Lock() + self.new_mimic_request = False + + # copy all mimic files (videos) to /tmp. This is important for all pc + # sharing their home directory through a NFS to not copy the file + # through the network for each call to mimic. + rospy.loginfo("copying all mimic files to /tmp/mimic...") + file_location = roslib.packages.get_pkg_dir('cob_mimic') + '/common/*.mp4' + os.system("mkdir -p /tmp/mimic") + os.system("cp " + file_location + " /tmp/mimic") + rospy.loginfo("...copied all mimic files to /tmp/mimic") + + # specify default mimic + self.default_mimic = 'default' + + # setup vlc player + self.vlc_instance = vlc.Instance('--ignore-config', '--mouse-hide-timeout=0', '-q', '--no-osd', '-L', '--one-instance', '--playlist-enqueue', '--no-video-title-show') + self.player = self.vlc_instance.media_player_new() + self.player.set_fullscreen(int(True)) + + # start the default mimic + self.set_mimic(self.default_mimic, 1, 1, False) + + def service_cb(self, req): + success = self.set_mimic(req.mimic, req.speed, req.repeat) + return SetMimicResponse(success, "") + + def action_cb(self, goal): + if self.set_mimic(goal.mimic, goal.speed, goal.repeat): + self._as.set_succeeded() + else: + self._as.set_aborted() + + def set_mimic(self, mimic, speed, repeat, blocking = True): + self.new_mimic_request = True + rospy.loginfo("New mimic request with %s", mimic) + self.mutex.acquire() + self.new_mimic_request = False + rospy.loginfo("Mimic: %s (speed: %s, repeat: %s)", mimic, speed, repeat) + file_location = '/tmp/mimic/' + mimic + '.mp4' + + # check if mimic exists + if(not os.path.isfile(file_location)): + rospy.logerr("File not found: %s", file_location) + self.mutex.release() + return False + + # repeat cannot be 0 + repeat = max(1, repeat) + + # speed cannot be 0 or negative + if speed <= 0: + rospy.logwarn("Mimic speed cannot be 0 or negative. Setting to 1.0") + speed = 1.0 + + self.player.set_rate(float(speed)) + while repeat: + media = self.vlc_instance.media_new(file_location) + media.get_mrl() + self.player.set_media(media) + self.player.play() + rospy.sleep(0.1) # we need to sleep here because is_playing() will not immediately return True after calling play() + while blocking and self.player.is_playing(): + rospy.sleep(0.1) + rospy.logdebug("still playing %s", mimic) + if self.new_mimic_request: + rospy.logwarn("mimic %s preempted", mimic) + self.mutex.release() + return False + + repeat -= 1 + self.mutex.release() + return True + + def main(self): + self._ss = rospy.Service('~set_mimic', SetMimic, self.service_cb) + self._as = actionlib.SimpleActionServer('~set_mimic', cob_mimic.msg.SetMimicAction, execute_cb=self.action_cb, auto_start = False) + self._as.start() + rospy.spin() + +if __name__ == "__main__": + rospy.init_node('mimic') + try: + mimic = Mimic() + mimic.main() + except (rospy.ROSInterruptException, KeyboardInterrupt, SystemExit) as e: + rospy.loginfo('Exiting: ' + str(e)) + pass + From 4cf091d5f057cdd71fe58937d741b840e43ab919 Mon Sep 17 00:00:00 2001 From: ipa-nhg Date: Tue, 22 Aug 2017 09:30:23 +0200 Subject: [PATCH 14/52] use the old driver --- cob_mimic/package.xml | 1 - cob_mimic/src/mimic_node.py | 215 +++++++++++++----------------------- 2 files changed, 74 insertions(+), 142 deletions(-) diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index b1364dfef..128d51584 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -20,7 +20,6 @@ actionlib boost libvlc-dev - python-vlc-pip roscpp roslib vlc diff --git a/cob_mimic/src/mimic_node.py b/cob_mimic/src/mimic_node.py index 619b23445..b47a27d7b 100755 --- a/cob_mimic/src/mimic_node.py +++ b/cob_mimic/src/mimic_node.py @@ -1,61 +1,18 @@ -#!/usr/bin/python -################################################################# -##\file +#!/usr/bin/env python # -# \note -# Copyright (c) 2010 \n -# Fraunhofer Institute for Manufacturing Engineering -# and Automation (IPA) \n\n +# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) # -################################################################# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at # -# \note -# Project name: Care-O-bot Research -# \note -# ROS stack name: cob_driver -# \note -# ROS package name: cob_mimic +# http://www.apache.org/licenses/LICENSE-2.0 # -# \author -# Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de -# \author -# Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh.garcia@ipa.fhg.de -# -# \date Date of creation: Nov 2014 -# -# \brief -# Implements script server functionalities. -# -################################################################# -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# - Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. \n -# - Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in the -# documentation and/or other materials provided with the distribution. \n -# - Neither the name of the Fraunhofer Institute for Manufacturing -# Engineering and Automation (IPA) nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. \n -# -# This program is free software: you can redistribute it and/or modify -# it under the terms of the GNU Lesser General Public License LGPL as -# published by the Free Software Foundation, either version 3 of the -# License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU Lesser General Public License LGPL for more details. -# -# You should have received a copy of the GNU Lesser General Public -# License LGPL along with this program. -# If not, see < http://www.gnu.org/licenses/>. -# -################################################################# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. import os import vlc @@ -69,93 +26,69 @@ from cob_mimic.msg import * class Mimic: - def __init__(self): - self.mutex = threading.Lock() - self.new_mimic_request = False - - # copy all mimic files (videos) to /tmp. This is important for all pc - # sharing their home directory through a NFS to not copy the file - # through the network for each call to mimic. - rospy.loginfo("copying all mimic files to /tmp/mimic...") - file_location = roslib.packages.get_pkg_dir('cob_mimic') + '/common/*.mp4' - os.system("mkdir -p /tmp/mimic") - os.system("cp " + file_location + " /tmp/mimic") - rospy.loginfo("...copied all mimic files to /tmp/mimic") - - # specify default mimic - self.default_mimic = 'default' - - # setup vlc player - self.vlc_instance = vlc.Instance('--ignore-config', '--mouse-hide-timeout=0', '-q', '--no-osd', '-L', '--one-instance', '--playlist-enqueue', '--no-video-title-show') - self.player = self.vlc_instance.media_player_new() - self.player.set_fullscreen(int(True)) - - # start the default mimic - self.set_mimic(self.default_mimic, 1, 1, False) - - def service_cb(self, req): - success = self.set_mimic(req.mimic, req.speed, req.repeat) - return SetMimicResponse(success, "") - - def action_cb(self, goal): - if self.set_mimic(goal.mimic, goal.speed, goal.repeat): - self._as.set_succeeded() - else: - self._as.set_aborted() - - def set_mimic(self, mimic, speed, repeat, blocking = True): - self.new_mimic_request = True - rospy.loginfo("New mimic request with %s", mimic) - self.mutex.acquire() - self.new_mimic_request = False - rospy.loginfo("Mimic: %s (speed: %s, repeat: %s)", mimic, speed, repeat) - file_location = '/tmp/mimic/' + mimic + '.mp4' - - # check if mimic exists - if(not os.path.isfile(file_location)): - rospy.logerr("File not found: %s", file_location) - self.mutex.release() - return False - - # repeat cannot be 0 - repeat = max(1, repeat) - - # speed cannot be 0 or negative - if speed <= 0: - rospy.logwarn("Mimic speed cannot be 0 or negative. Setting to 1.0") - speed = 1.0 - - self.player.set_rate(float(speed)) - while repeat: - media = self.vlc_instance.media_new(file_location) - media.get_mrl() - self.player.set_media(media) - self.player.play() - rospy.sleep(0.1) # we need to sleep here because is_playing() will not immediately return True after calling play() - while blocking and self.player.is_playing(): - rospy.sleep(0.1) - rospy.logdebug("still playing %s", mimic) - if self.new_mimic_request: - rospy.logwarn("mimic %s preempted", mimic) - self.mutex.release() - return False - - repeat -= 1 - self.mutex.release() - return True - - def main(self): - self._ss = rospy.Service('~set_mimic', SetMimic, self.service_cb) - self._as = actionlib.SimpleActionServer('~set_mimic', cob_mimic.msg.SetMimicAction, execute_cb=self.action_cb, auto_start = False) - self._as.start() - rospy.spin() + def service_cb(self, req): + success = self.set_mimic(req.mimic, req.speed, req.repeat) + return SetMimicResponse(success, "") + + def action_cb(self, goal): + if self.set_mimic(goal.mimic, goal.speed, goal.repeat): + self._as.set_succeeded() + else: + self._as.set_aborted() + + def set_mimic(self, mimic, speed, repeat): + rospy.loginfo("Mimic: %s", mimic) + file_location = '/tmp/mimic/' + mimic + '.mp4' + if(not os.path.isfile(file_location)): + rospy.logerror("File not found: %s", file_location) + return False + + # repeat cannot be 0 + repeat = max (1, repeat) + + for i in range(0, repeat): + rospy.loginfo("Repeat: %s, Mimic: %s", repeat, mimic) + command = "export DISPLAY=:0 && vlc --video-wallpaper --video-filter 'rotate{angle=%d}' --vout glx --one-instance --playlist-enqueue --no-video-title-show --rate %f %s vlc://quit" % (self.rotation, speed, file_location) + os.system(command) + + return True + + def defaultMimic(self): + file_location = '/tmp/mimic/' + self.default_mimic + '.mp4' + if not os.path.isfile(file_location): + rospy.logerror("File not found: %s", file_location) + return + + while not rospy.is_shutdown(): + command = "export DISPLAY=:0 && vlc --video-wallpaper --video-filter 'rotate{angle=%d}' --vout glx --loop --one-instance --playlist-enqueue --no-video-title-show --rate %f %s vlc://quit" % (self.rotation, self.default_speed, file_location) + os.system(command) + + def main(self): + self.default_speed = 1.0 + self.default_mimic = "default" + self.rotation = rospy.get_param('~rotation', 0) + + # copy all videos to /tmp + rospy.loginfo("copying all mimic files to /tmp/mimic...") + file_location = roslib.packages.get_pkg_dir('cob_mimic') + '/common/*.mp4' + os.system("mkdir -p /tmp/mimic") + os.system("cp " + file_location + " /tmp/mimic") + rospy.loginfo("...copied all mimic files to /tmp/mimic") + + self._ss = rospy.Service('~set_mimic', SetMimic, self.service_cb) + self._as = actionlib.SimpleActionServer('~set_mimic', cob_mimic.msg.SetMimicAction, execute_cb=self.action_cb, auto_start = False) + self._as.start() + + rospy.spin() + + if __name__ == "__main__": - rospy.init_node('mimic') - try: - mimic = Mimic() - mimic.main() - except (rospy.ROSInterruptException, KeyboardInterrupt, SystemExit) as e: - rospy.loginfo('Exiting: ' + str(e)) - pass + rospy.init_node('mimic') + try: + mimic = Mimic() + mimic.main() + except (rospy.ROSInterruptException, KeyboardInterrupt, SystemExit) as e: + rospy.loginfo('Exiting: ' + str(e)) + pass From e27c9ef1e5a23f44df6bb679dae55f3f19c4a186 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nadia=20Hammoudeh=20Garc=C3=ADa?= Date: Tue, 22 Aug 2017 12:20:10 +0200 Subject: [PATCH 15/52] remove duplicated test_mimic.py install tag --- cob_mimic/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cob_mimic/CMakeLists.txt b/cob_mimic/CMakeLists.txt index 06dc34f15..4ef70b9ca 100644 --- a/cob_mimic/CMakeLists.txt +++ b/cob_mimic/CMakeLists.txt @@ -43,6 +43,6 @@ install(DIRECTORY common DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) -install(PROGRAMS src/mimic_node.py src/test_mimic.py +install(PROGRAMS src/mimic_node.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/src -) \ No newline at end of file +) From 71e61aef165dbccc445f7001852bd86eaac01b01 Mon Sep 17 00:00:00 2001 From: Andreea Tulbure Date: Thu, 14 Sep 2017 14:54:10 +0200 Subject: [PATCH 16/52] changes in scan_unifier to use tf2 --- cob_scan_unifier/CMakeLists.txt | 3 +- .../cob_scan_unifier/scan_unifier_node.h | 10 +++++- cob_scan_unifier/src/scan_unifier_node.cpp | 35 +++++++++++-------- 3 files changed, 32 insertions(+), 16 deletions(-) diff --git a/cob_scan_unifier/CMakeLists.txt b/cob_scan_unifier/CMakeLists.txt index b7dc0eb9c..7f8e61ac1 100644 --- a/cob_scan_unifier/CMakeLists.txt +++ b/cob_scan_unifier/CMakeLists.txt @@ -5,7 +5,8 @@ find_package(catkin REQUIRED COMPONENTS laser_geometry roscpp sensor_msgs - tf + tf2 + tf2_ros ) catkin_package() diff --git a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h index 62579266f..9b2689138 100644 --- a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h +++ b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h @@ -32,13 +32,18 @@ #include #include #include +#include #include #include #include #include +//includes tf2_ros +#include + // ROS message includes #include +#include //#################### @@ -91,7 +96,10 @@ class ScanUnifierNode ros::Publisher topicPub_LaserUnified_; // tf listener - tf::TransformListener listener_; + //tf::TransformListener listener_; + tf2_ros::Buffer *p_tfBuffer; + tf2_ros::TransformListener *p_tfListener; + uint _num_transform_errors; // laser geometry projector laser_geometry::LaserProjection projector_; diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index 198a5248b..8003c22ea 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -30,7 +30,10 @@ ScanUnifierNode::ScanUnifierNode() topicPub_LaserUnified_ = nh_.advertise("scan_unified", 1); getParams(); - + + p_tfBuffer = new tf2_ros::Buffer(); + p_tfListener = new tf2_ros::TransformListener(*p_tfBuffer, true); + // Subscribe to Laserscan topics for(int i = 0; i < config_.number_input_scans; i++) @@ -152,7 +155,10 @@ void ScanUnifierNode::messageFilterCallback(const sensor_msgs::LaserScan::ConstP */ bool ScanUnifierNode::unifyLaserScans(std::vector current_scans, sensor_msgs::LaserScan &unified_scan) { + std::vector vec_cloud2; std::vector vec_cloud; + geometry_msgs::TransformStamped transform; + vec_cloud2.assign(config_.number_input_scans, sensor_msgs::PointCloud2()); vec_cloud.assign(config_.number_input_scans, sensor_msgs::PointCloud()); if(!current_scans.empty()) @@ -163,20 +169,21 @@ bool ScanUnifierNode::unifyLaserScans(std::vectorheader.stamp; ROS_DEBUG_STREAM("Converting scans to point clouds at index: " << i << ", at time: " << current_scans.at(i)->header.stamp << " now: " << ros::Time::now()); try - { - if (!listener_.waitForTransform(frame_, current_scans.at(i)->header.frame_id, - current_scans.at(i)->header.stamp, ros::Duration(1.0))) - { - ROS_WARN_STREAM("Scan unifier skipped scan with " << current_scans.at(i)->header.stamp << " stamp, because of missing tf transform."); - return false; + { + transform = p_tfBuffer->lookupTransform(frame_, current_scans.at(i)->header.frame_id, current_scans.at(i)->header.stamp, ros::Duration(1.0)); + _num_transform_errors = 0; + } + catch (tf2::TransformException ex) + { + if (_num_transform_errors%100 == 0){ + ROS_ERROR("%s", ex.what()); } - - ROS_DEBUG("now project to point_cloud"); - projector_.transformLaserScanToPointCloud(frame_,*current_scans.at(i), vec_cloud.at(i), listener_); - } - catch(tf::TransformException &ex){ - ROS_ERROR("%s",ex.what()); - } + _num_transform_errors++; + return false; + } + ROS_DEBUG("now project to point_cloud"); + projector_.transformLaserScanToPointCloud(frame_,*current_scans.at(i), vec_cloud2.at(i), *p_tfBuffer); + if(!sensor_msgs::convertPointCloud2ToPointCloud(vec_cloud2.at(i),vec_cloud.at(i))) return false; } ROS_DEBUG("Creating message header"); unified_scan.header = current_scans.at(0)->header; From 902f7242c10ca2d66cee994bcaa80778e83d801f Mon Sep 17 00:00:00 2001 From: Andreea Tulbure Date: Wed, 4 Oct 2017 11:35:59 +0200 Subject: [PATCH 17/52] clean comments --- cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h index 9b2689138..01e5551d9 100644 --- a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h +++ b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h @@ -95,8 +95,6 @@ class ScanUnifierNode // declaration of ros publishers ros::Publisher topicPub_LaserUnified_; - // tf listener - //tf::TransformListener listener_; tf2_ros::Buffer *p_tfBuffer; tf2_ros::TransformListener *p_tfListener; uint _num_transform_errors; From 7fe4fbd41e22040fd186299a9c8882f8a78b8213 Mon Sep 17 00:00:00 2001 From: Andreea Tulbure Date: Wed, 4 Oct 2017 11:41:53 +0200 Subject: [PATCH 18/52] deleted some includes --- cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h index 01e5551d9..6033abb79 100644 --- a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h +++ b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h @@ -28,9 +28,6 @@ // ROS includes #include -#include -#include -#include #include #include #include From 202a110be658ef13b2c68d88fecfdc379bdd94d5 Mon Sep 17 00:00:00 2001 From: ipa-mig Date: Wed, 17 May 2017 15:48:18 +0200 Subject: [PATCH 19/52] remove dead code --- cob_sick_s300/CMakeLists.txt | 21 ++-- .../common/include/cob_sick_s300/Errors.hpp | 62 ---------- .../LaserScannerConfiguration.hpp | 90 --------------- .../common/include/cob_sick_s300/Logger.hpp | 71 ------------ .../common/include/cob_sick_s300/Units.hpp | 45 -------- cob_sick_s300/common/src/Errors.cpp | 85 -------------- .../common/src/LaserScannerConfiguration.cpp | 63 ---------- cob_sick_s300/common/src/Logger.cpp | 108 ------------------ 8 files changed, 10 insertions(+), 535 deletions(-) delete mode 100644 cob_sick_s300/common/include/cob_sick_s300/Errors.hpp delete mode 100644 cob_sick_s300/common/include/cob_sick_s300/LaserScannerConfiguration.hpp delete mode 100644 cob_sick_s300/common/include/cob_sick_s300/Logger.hpp delete mode 100644 cob_sick_s300/common/include/cob_sick_s300/Units.hpp delete mode 100644 cob_sick_s300/common/src/Errors.cpp delete mode 100644 cob_sick_s300/common/src/LaserScannerConfiguration.cpp delete mode 100644 cob_sick_s300/common/src/Logger.cpp diff --git a/cob_sick_s300/CMakeLists.txt b/cob_sick_s300/CMakeLists.txt index 42802d746..dc6031bdd 100644 --- a/cob_sick_s300/CMakeLists.txt +++ b/cob_sick_s300/CMakeLists.txt @@ -8,19 +8,18 @@ find_package(Boost REQUIRED COMPONENTS date_time thread) catkin_package() ### BUILD ### -include_directories(common/include common/src ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}) - -set(OODL_SickS300_SRC - ${PROJECT_SOURCE_DIR}/common/src/Errors.cpp - ${PROJECT_SOURCE_DIR}/common/src/Logger.cpp - # ${PROJECT_SOURCE_DIR}/common/src/LaserScannerData.cpp - ${PROJECT_SOURCE_DIR}/common/src/LaserScannerConfiguration.cpp - # ${PROJECT_SOURCE_DIR}/common/src/LaserScannerDataWithIntensities.cpp - ${PROJECT_SOURCE_DIR}/common/src/ScannerSickS300.cpp - ${PROJECT_SOURCE_DIR}/common/src/SerialIO.cpp +include_directories( + common/include + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +add_executable(${PROJECT_NAME} + common/src/ScannerSickS300.cpp + common/src/SerialIO.cpp + ros/src/${PROJECT_NAME}.cpp ) -add_executable(${PROJECT_NAME} ros/src/${PROJECT_NAME}.cpp ${OODL_SickS300_SRC}) add_executable(cob_scan_filter ros/src/cob_scan_filter.cpp) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) diff --git a/cob_sick_s300/common/include/cob_sick_s300/Errors.hpp b/cob_sick_s300/common/include/cob_sick_s300/Errors.hpp deleted file mode 100644 index 97150e54f..000000000 --- a/cob_sick_s300/common/include/cob_sick_s300/Errors.hpp +++ /dev/null @@ -1,62 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#ifndef BRICS_OODL_ERRORS_H -#define BRICS_OODL_ERRORS_H - - -#include -using namespace std; - -#include -#include -#include "Logger.hpp" -namespace brics_oodl { - -/** - * \brief - * - */ -class Errors { - public: - Errors(); - - virtual ~Errors(); - - void getNextError(std::string& name, std::string& description); - - void getAllErrors(map& allErrors); - - unsigned int getAmountOfErrors(); - - void addError(std::string name, std::string description); - - void deleteAllErrors(); - - void printErrorsToConsole(); - - - private: - //map of error name and error description - map occurredErrors; - - map::iterator iter; - -}; - -} // namespace brics_oodl -#endif diff --git a/cob_sick_s300/common/include/cob_sick_s300/LaserScannerConfiguration.hpp b/cob_sick_s300/common/include/cob_sick_s300/LaserScannerConfiguration.hpp deleted file mode 100644 index ecfbf45cf..000000000 --- a/cob_sick_s300/common/include/cob_sick_s300/LaserScannerConfiguration.hpp +++ /dev/null @@ -1,90 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#ifndef BRICS_OODL_LASERSCANNERCONFIGURATION_H -#define BRICS_OODL_LASERSCANNERCONFIGURATION_H - -/** - * \file - * - * \author - * \date - */ -#include -#include -#include -#include "cob_sick_s300/Units.hpp" -namespace brics_oodl { - -enum baud_rate { - BAUD_9600, - BAUD_19200, - BAUD_38400, - BAUD_115200, - BAUD_500K, - BAUD_UNKNOWN - -}; -/** - * \brief - * - */ -class LaserScannerConfiguration { - public: - LaserScannerConfiguration(); - - virtual ~LaserScannerConfiguration(); - - LaserScannerConfiguration(const LaserScannerConfiguration & source); - - virtual LaserScannerConfiguration & operator=(const LaserScannerConfiguration & source); - - /// Vendor name. - std::string vendor; - - /// Product name. - std::string product; - - /// Firmware version. - std::string firmware; - - std::string protocol; - - std::string serialNumber; - - std::string model; - - quantity scanAngleStart; - - quantity scanAngleStop; - - quantity scanResolution; - - quantity minRangeDistance; - - quantity maxRangeDistance; - - baud_rate baud; - - std::string devicePath; - - int scannerID; - -}; - -} // namespace brics_oodl -#endif diff --git a/cob_sick_s300/common/include/cob_sick_s300/Logger.hpp b/cob_sick_s300/common/include/cob_sick_s300/Logger.hpp deleted file mode 100644 index 331e7af9d..000000000 --- a/cob_sick_s300/common/include/cob_sick_s300/Logger.hpp +++ /dev/null @@ -1,71 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#ifndef BRICS_OODL_LOGGER_HPP -#define BRICS_OODL_LOGGER_HPP - -#include -#include -#include - -#include "boost/date_time/posix_time/posix_time.hpp" - - -namespace brics_oodl { - - enum severity_level { - trace, - debug, - info, - warning, - error, - fatal - }; - - /////////////////////////////////////////////////////////////////////////////// - /// Implementation logging to console and to a file - /////////////////////////////////////////////////////////////////////////////// - class Logger { - private: - std::stringstream out; - bool print; - severity_level level; - public: - - Logger(const std::string &funcName, const int &lineNo, const std::string &fileName, severity_level level); - ~Logger(); - - static bool toConsole; - static bool toFile; - static bool toROS; - static severity_level logginLevel; - - template - Logger & operator<<(const T &v) { - out << v; - return *this; - } - }; - - -#define LOG(level) Logger(__PRETTY_FUNCTION__, __LINE__ , __FILE__, level) - - -} // namespace youbot - -#endif /* YOUBOT_LOGGER_HPP */ - diff --git a/cob_sick_s300/common/include/cob_sick_s300/Units.hpp b/cob_sick_s300/common/include/cob_sick_s300/Units.hpp deleted file mode 100644 index 085e65b19..000000000 --- a/cob_sick_s300/common/include/cob_sick_s300/Units.hpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#ifndef BRICS_OODL_UNITS_HPP -#define BRICS_OODL_UNITS_HPP -#include -#include -#include -#include -#include -#include - - -using namespace boost::units; -using namespace boost::units::si; -using namespace boost::units::angle; - -//typedef boost::units::si::length meter; -using boost::units::si::meters; - - -typedef boost::units::make_scaled_unit > >::type millimeter; -typedef boost::units::make_scaled_unit > >::type centimeter; -BOOST_UNITS_STATIC_CONSTANT(centimeters, centimeter); - - -typedef boost::units::make_scaled_unit > >::type millisecond; -//BOOST_UNITS_STATIC_CONSTANT(millimeters, millimeter); - -#endif /* BRICS_OODL_UNITS_HPP */ - diff --git a/cob_sick_s300/common/src/Errors.cpp b/cob_sick_s300/common/src/Errors.cpp deleted file mode 100644 index bdeb1d3cf..000000000 --- a/cob_sick_s300/common/src/Errors.cpp +++ /dev/null @@ -1,85 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#include "cob_sick_s300/Errors.hpp" -namespace brics_oodl { - -Errors::Errors() { - // Bouml preserved body begin 000211F1 - iter = this->occurredErrors.begin(); - // Bouml preserved body end 000211F1 -} - -Errors::~Errors() { - // Bouml preserved body begin 00021271 - this->occurredErrors.clear(); - // Bouml preserved body end 00021271 -} - -void Errors::getNextError(std::string& name, std::string& description) { - // Bouml preserved body begin 00022AFC - if(iter == this->occurredErrors.end()){ - iter = this->occurredErrors.begin(); - }else{ - iter++; - } - name = iter->first; - description = iter->second; - // Bouml preserved body end 00022AFC -} - -void Errors::getAllErrors(map& allErrors) { - // Bouml preserved body begin 00022B7C - allErrors = this->occurredErrors; - // Bouml preserved body end 00022B7C -} - -unsigned int Errors::getAmountOfErrors() { - // Bouml preserved body begin 00021171 - return this->occurredErrors.size(); - // Bouml preserved body end 00021171 -} - -void Errors::addError(std::string name, std::string description) { - // Bouml preserved body begin 000212F1 - this->occurredErrors[name] = description; - // std::cout << "ERROR: " << name << " " << description << std::endl; - - - LOG(error) << name << ": " << description; - - // Bouml preserved body end 000212F1 -} - -void Errors::deleteAllErrors() { - // Bouml preserved body begin 00021371 - this->occurredErrors.clear(); - // Bouml preserved body end 00021371 -} - -void Errors::printErrorsToConsole() { - // Bouml preserved body begin 0002FA71 - map::iterator iterator;; - for(iterator = this->occurredErrors.begin();iterator != this->occurredErrors.end(); iterator++){ - std::cout << iterator->first << ": " << iterator->second << std::endl; - } - - // Bouml preserved body end 0002FA71 -} - - -} // namespace brics_oodl diff --git a/cob_sick_s300/common/src/LaserScannerConfiguration.cpp b/cob_sick_s300/common/src/LaserScannerConfiguration.cpp deleted file mode 100644 index 340542efd..000000000 --- a/cob_sick_s300/common/src/LaserScannerConfiguration.cpp +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#include "cob_sick_s300/LaserScannerConfiguration.hpp" -namespace brics_oodl { - -LaserScannerConfiguration::LaserScannerConfiguration(){ - // Bouml preserved body begin 0001F47C - // Bouml preserved body end 0001F47C -} - -LaserScannerConfiguration::~LaserScannerConfiguration(){ - // Bouml preserved body begin 0001F4FC - // Bouml preserved body end 0001F4FC -} - -LaserScannerConfiguration::LaserScannerConfiguration(const LaserScannerConfiguration & source) { - // Bouml preserved body begin 000214F1 - *this = source; - // Bouml preserved body end 000214F1 -} - -LaserScannerConfiguration & LaserScannerConfiguration::operator=(const LaserScannerConfiguration & source) { - // Bouml preserved body begin 00021571 - - this->baud = source.baud; - this->devicePath = source.devicePath; - this->firmware = source.firmware; - - this->model = source.model; - - this->product = source.product; - this->protocol = source.protocol; - this->scanAngleStart = source.scanAngleStart; - this->scanAngleStop = source.scanAngleStop; - this->scanResolution = source.scanResolution; - this->maxRangeDistance = source.maxRangeDistance; - this->minRangeDistance = source.minRangeDistance; - this->serialNumber = source.serialNumber; - this->vendor = source.vendor; - this->scannerID = source.scannerID; - - return *this; - - // Bouml preserved body end 00021571 -} - - -} // namespace brics_oodl diff --git a/cob_sick_s300/common/src/Logger.cpp b/cob_sick_s300/common/src/Logger.cpp deleted file mode 100644 index 1db9de929..000000000 --- a/cob_sick_s300/common/src/Logger.cpp +++ /dev/null @@ -1,108 +0,0 @@ -/* - * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - - -#include "cob_sick_s300/Logger.hpp" - -namespace brics_oodl { - - bool Logger::toConsole = false; - bool Logger::toFile = false; - bool Logger::toROS = true; - severity_level Logger::logginLevel = trace; - - Logger::Logger(const std::string &funcName, const int &lineNo, const std::string &fileName, severity_level level) { - - this->level = level; - if (toConsole || toFile) { - if (level >= logginLevel) { - print = true; - - switch (level) { - case trace: - out << "Trace" << ": "; - break; - case debug: - out << "Debug" << ": "; - break; - case info: - out << "Info" << ": "; - break; - case warning: - out << "Warning" << ": "; - break; - case error: - out << "Error" << ": "; - break; - case fatal: - out << "Fatal" << ": "; - break; - default: - break; - } - // out << "function " << funcName << ": "; - // out << "line " << lineNo << ": "; - // out << "fileName " << fileName << ": "; - // out << "time " << boost::posix_time::microsec_clock::local_time() << ": "; - } else { - print = false; - } - } else { - print = false; - } - - } - - Logger::~Logger() { - //end of message - if (toConsole && print) { - std::cout << out.str() << std::endl; - } - - if (toFile && print) { - std::fstream filestr; - filestr.open("log.txt", std::fstream::out | std::fstream::app); - filestr << out.str() << std::endl; - filestr.close(); - } - - if (toROS) { - switch (level) { - case trace: - ROS_DEBUG("%s",out.str().c_str()); - break; - case debug: - ROS_DEBUG("%s",out.str().c_str()); - break; - case info: - ROS_INFO("%s",out.str().c_str()); - break; - case warning: - ROS_WARN("%s",out.str().c_str()); - break; - case error: - ROS_ERROR("%s",out.str().c_str()); - break; - case fatal: - ROS_FATAL("%s",out.str().c_str()); - break; - default: - break; - } - } - } - -} // namespace youbot From 8b7c30534fd4902972984f0ab93d9a77cc2b32e0 Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Thu, 5 Oct 2017 14:45:01 +0200 Subject: [PATCH 20/52] use glx/opengl output for mimic, fixes mimic issue for 6th and 7th gen nuc --- cob_mimic/src/mimic_node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 8500b29bd..46926f02c 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -79,7 +79,8 @@ class Mimic "--playlist-enqueue", "--no-video-title-show", "--no-skip-frames", - "--no-audio" + "--no-audio", + "--vout=glx,none" }; int argc = sizeof( argv ) / sizeof( *argv ); From 8418e7c20540b11658e24552f2b0b248f2acd0dd Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Tue, 28 Nov 2017 13:55:38 +0100 Subject: [PATCH 21/52] set relative remaining capacity --- cob_bms_driver/src/fake_bms.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/cob_bms_driver/src/fake_bms.py b/cob_bms_driver/src/fake_bms.py index f25cdcb80..388e2c409 100755 --- a/cob_bms_driver/src/fake_bms.py +++ b/cob_bms_driver/src/fake_bms.py @@ -24,7 +24,7 @@ class FakeBMS(object): def __init__(self): self.srv_current = rospy.Service('~set_current', SetFloat, self.current_cb) - self.srv_remaining_capacity = rospy.Service('~set_remaining_capacity', SetFloat, self.remaining_capacity_cb) + self.srv_relative_remaining_capacity = rospy.Service('~set_relative_remaining_capacity', SetFloat, self.relative_remaining_capacity_cb) self.poll_frequency = rospy.get_param('~poll_frequency_hz', 20.0) self.pub_voltage = rospy.Publisher('~voltage', Float64, queue_size = 1) self.pub_current = rospy.Publisher('~current', Float64, queue_size = 1) @@ -48,9 +48,9 @@ def current_cb(self, req): res_current = SetFloatResponse(True, "Set current to {}".format(req.data)) return res_current - def remaining_capacity_cb(self, req): - self.remaining_capacity = req.data - res_capacity = SetFloatResponse(True, "Set remaining capacity to {}".format(req.data)) + def relative_remaining_capacity_cb(self, req): + self.remaining_capacity = round(((req.data * self.full_charge_capacity)/100.0), 3) + res_capacity = SetFloatResponse(True, "Set relative remaining capacity to {}".format(req.data)) return res_capacity def publish_diagnostics(self, event): @@ -74,9 +74,9 @@ def timer_cb(self, event): def timer_consume_power_cb(self, event): # emulate the battery usage based on the current values - self.remaining_capacity += (self.current/self.poll_frequency)/3600 - if self.remaining_capacity <= 0: - self.remaining_capacity = 0 + self.remaining_capacity += (self.current/self.poll_frequency)/3600.0 + if self.remaining_capacity <= 0.0: + self.remaining_capacity = 0.0 if self.remaining_capacity >= self.full_charge_capacity: self.remaining_capacity = self.full_charge_capacity From 13857c8fb95e303eadb2db39caeadfe1a631b951 Mon Sep 17 00:00:00 2001 From: msh Date: Wed, 6 Dec 2017 09:16:25 +0100 Subject: [PATCH 22/52] catch if filename is empty --- cob_sound/ros/src/sound.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/cob_sound/ros/src/sound.cpp b/cob_sound/ros/src/sound.cpp index 74dd8a28f..6087b3fca 100644 --- a/cob_sound/ros/src/sound.cpp +++ b/cob_sound/ros/src/sound.cpp @@ -266,15 +266,22 @@ class SoundAction return true; } - bool play(std::string filename, std::string message) + bool play(std::string filename, std::string &message) { bool ret = false; if (mute_) { - message = "Sound is set to mute. You will hear nothing."; + message = "Sound is set to mute. You will hear nothing."; ROS_WARN_STREAM(message); return ret; } + + if (filename.empty()) + { + message = "Cannot play because filename is empty."; + ROS_WARN_STREAM(message); + return ret; + } ROS_INFO("Playing: %s", filename.c_str()); vlc_media_ = libvlc_media_new_path(vlc_inst_, filename.c_str()); From feb4b6c03b02b3810cf2653cce03cc579f3f7ade Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Thu, 21 Dec 2017 14:25:27 +0100 Subject: [PATCH 23/52] use diagnostic updater in fake_bms --- cob_bms_driver/src/fake_bms.py | 25 +++++++++++++++---------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/cob_bms_driver/src/fake_bms.py b/cob_bms_driver/src/fake_bms.py index 388e2c409..ce31f8461 100755 --- a/cob_bms_driver/src/fake_bms.py +++ b/cob_bms_driver/src/fake_bms.py @@ -20,6 +20,7 @@ from std_msgs.msg import Float64 from cob_srvs.srv import SetFloat, SetFloatResponse from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus +from diagnostic_updater import Updater class FakeBMS(object): def __init__(self): @@ -31,7 +32,10 @@ def __init__(self): self.pub_remaining_capacity = rospy.Publisher('~remaining_capacity', Float64, queue_size = 1) self.pub_full_charge_capacity = rospy.Publisher('~full_charge_capacity', Float64, queue_size = 1) self.pub_temparature = rospy.Publisher('~temperature', Float64, queue_size = 1) - self.pub_diagnostics = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1) + + self.updater = Updater() + self.updater.setHardwareID("bms") + self.updater.add("cob_bms_dagnostics_updater", self.produce_diagnostics) self.voltage = 0.0 self.current = -8.0 @@ -54,15 +58,16 @@ def relative_remaining_capacity_cb(self, req): return res_capacity def publish_diagnostics(self, event): - msg = DiagnosticArray() - msg.header.stamp = rospy.get_rostime() - status = DiagnosticStatus() - status.name = rospy.get_name() - status.level = DiagnosticStatus.OK - status.message = "fake diagnostics" - status.hardware_id = rospy.get_name() - msg.status.append(status) - self.pub_diagnostics.publish(msg) + self.updater.update() + + def produce_diagnostics(self, stat): + stat.summary(DiagnosticStatus.OK, "Fake Driver: Ready") + stat.add("current[A]", self.current) + stat.add("voltage[V]", self.voltage) + stat.add("temperature[Celsius]", self.temperature) + stat.add("remaining_capacity[Ah]", self.remaining_capacity) + stat.add("full_charge_capacity[Ah]", self.full_charge_capacity) + return stat def timer_cb(self, event): self.voltage = 48.0 From 8c7dd270b56b4ef171a22e7d8652a07fd47a2b09 Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Sun, 7 Jan 2018 12:17:34 +0100 Subject: [PATCH 24/52] update changelogs --- cob_base_drive_chain/CHANGELOG.rst | 8 +++++++ cob_bms_driver/CHANGELOG.rst | 15 +++++++++++++ cob_camera_sensors/CHANGELOG.rst | 15 +++++++++++++ cob_canopen_motor/CHANGELOG.rst | 8 +++++++ cob_driver/CHANGELOG.rst | 11 ++++++++++ cob_elmo_homing/CHANGELOG.rst | 9 ++++++++ cob_generic_can/CHANGELOG.rst | 8 +++++++ cob_light/CHANGELOG.rst | 8 +++++++ cob_mimic/CHANGELOG.rst | 31 +++++++++++++++++++++++++++ cob_phidget_em_state/CHANGELOG.rst | 8 +++++++ cob_phidget_power_state/CHANGELOG.rst | 8 +++++++ cob_phidgets/CHANGELOG.rst | 8 +++++++ cob_relayboard/CHANGELOG.rst | 8 +++++++ cob_scan_unifier/CHANGELOG.rst | 11 ++++++++++ cob_sick_lms1xx/CHANGELOG.rst | 8 +++++++ cob_sick_s300/CHANGELOG.rst | 14 ++++++++++++ cob_sound/CHANGELOG.rst | 11 ++++++++++ cob_undercarriage_ctrl/CHANGELOG.rst | 8 +++++++ cob_utilities/CHANGELOG.rst | 8 +++++++ cob_voltage_control/CHANGELOG.rst | 8 +++++++ 20 files changed, 213 insertions(+) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index 9cc0597b2..cd7bfd863 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index d2d8ab0b2..8e5b4b290 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#364 `_ from ipa-fxm/fake_bms_diagnostics + use diagnostic updater in fake_bms +* use diagnostic updater in fake_bms +* Merge pull request `#361 `_ from ipa-fxm/set_relative_remaining_capacity + set relative remaining capacity +* set relative remaining capacity +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* change maintainer +* use license apache 2.0 +* Contributors: Felix Messmer, Florian Weisshardt, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index ccfc6afb4..096188753 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,6 +2,21 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Merge branch 'indigo_dev' of github.com:ipa320/cob_driver into feature/mimic_sim +* Merge pull request `#351 `_ from mikaelarguedas/add_tinyxml_dependency + add tinyxml to package.xml +* add tinyxml to package.xml +* Merge pull request `#349 `_ from ipa320/ipa-rmb-patch-1 + Changed Maintainer +* Changed Maintainer +* Contributors: Benjamin Maidel, Felix Messmer, Mikael Arguedas, Richard Bormann, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 190d8ee4f..2dffe114e 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index b34013649..29b72e005 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#353 `_ from ipa-fxm/update_maintainer + update maintainer +* update maintainer +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index a409caef3..d4d2058ad 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* change maintainer +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index dbd3065bd..a6c1ac1b8 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 05d913315..79dd51b6e 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- * fixed function return value diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index 2924f085a..e5a88bbcc 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#359 `_ from ipa-bnm/fix/mimic + [cob_mimic] use glx/opengl output for mimic +* use glx/opengl output for mimic, fixes mimic issue for 6th and 7th gen nuc +* Merge pull request `#354 `_ from ipa-bnm/feature/mimic + [Mimic] improvements +* Merge pull request `#353 `_ from ipa-fxm/update_maintainer + update maintainer +* Merge pull request `#356 `_ from ipa-nhg/MimicPy + HotFix: readded python node for mimic +* remove duplicated test_mimic.py install tag +* use the old driver +* readded python node for mimic +* do not start blinking timer on sleeping or falling_asleep requests +* added random mimics +* double check username +* update maintainer +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* Merge pull request `#352 `_ from ipa-bnm/feature/mimic_sim + Do not run mimic in fullscreen if sim is enabled +* use license apache 2.0 +* Merge branch 'indigo_dev' of github.com:ipa320/cob_driver into feature/mimic_sim +* no fullscreen if sim enabled +* Merge pull request `#345 `_ from ipa-fxm/fix_mimic_permission + guarantee unique copy destinations +* guarantee unique copy destinations +* Contributors: Benjamin Maidel, Felix Messmer, Florian Weisshardt, Nadia Hammoudeh García, ipa-fxm, ipa-nhg, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- * Merge branch 'indigo_dev' into indigo_release_candidate diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index a0fd87ef4..00e2f8a45 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 12eaf6408..4d7b02d14 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index f986fd2ec..078eef74c 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 76427a135..fd1a33b5f 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 02f359cf5..863a67a4a 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#353 `_ from ipa-fxm/update_maintainer + update maintainer +* update maintainer +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index f11bed893..85d83a4f1 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index 59b6452b7..2041f1a1b 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#358 `_ from ipa-jba/fix/s300-max-range + [cob_sick_s300] adjust range_max +* Merge pull request `#357 `_ from ipa-jba/fix/remove-dead-code + [cob_sick_s300] remove dead code +* remove dead code +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* cob_sick_s300: adjust range_max +* Contributors: Felix Messmer, ipa-fxm, ipa-mig, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 04fa93172..1c07f29ae 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#353 `_ from ipa-fxm/update_maintainer + update maintainer +* update maintainer +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 86356eea3..3763122d1 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index 636159f31..01cf6a879 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index a3af9eed6..e7cf9c7c6 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.6.11 (2018-01-07) +------------------- +* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev +* Merge pull request `#341 `_ from ipa-fxm/APACHE_license + use license apache 2.0 +* use license apache 2.0 +* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk + 0.6.10 (2017-07-24) ------------------- From 4bf1717355735c98332ce4d43b4bba1d50e694a1 Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Sun, 7 Jan 2018 12:23:09 +0100 Subject: [PATCH 25/52] 0.6.11 --- cob_base_drive_chain/package.xml | 2 +- cob_bms_driver/package.xml | 2 +- cob_camera_sensors/package.xml | 2 +- cob_canopen_motor/package.xml | 2 +- cob_driver/package.xml | 2 +- cob_elmo_homing/package.xml | 2 +- cob_generic_can/package.xml | 2 +- cob_light/package.xml | 2 +- cob_mimic/package.xml | 2 +- cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/package.xml | 2 +- cob_relayboard/package.xml | 2 +- cob_scan_unifier/package.xml | 2 +- cob_sick_lms1xx/package.xml | 2 +- cob_sick_s300/package.xml | 2 +- cob_sound/package.xml | 2 +- cob_undercarriage_ctrl/package.xml | 2 +- cob_utilities/package.xml | 2 +- cob_voltage_control/package.xml | 2 +- 20 files changed, 20 insertions(+), 20 deletions(-) diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml index 1bf2afce0..01a4b2bec 100644 --- a/cob_base_drive_chain/package.xml +++ b/cob_base_drive_chain/package.xml @@ -1,6 +1,6 @@ cob_base_drive_chain - 0.6.10 + 0.6.11 This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information. Apache 2.0 diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index 09ca3fd9b..255d46664 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -1,7 +1,7 @@ cob_bms_driver - 0.6.10 + 0.6.11 Driver package for interfacing the battery management system (BMS) on Care-O-bot. diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml index 8ce8ed53a..5d676f7c5 100644 --- a/cob_camera_sensors/package.xml +++ b/cob_camera_sensors/package.xml @@ -1,6 +1,6 @@ cob_camera_sensors - 0.6.10 + 0.6.11 For more information read the readme.htm file located in Apache 2.0 diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml index 2c7730426..c707e08aa 100644 --- a/cob_canopen_motor/package.xml +++ b/cob_canopen_motor/package.xml @@ -1,6 +1,6 @@ cob_canopen_motor - 0.6.10 + 0.6.11 The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica". Apache 2.0 diff --git a/cob_driver/package.xml b/cob_driver/package.xml index bfe11c7ed..82cd1648e 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -1,6 +1,6 @@ cob_driver - 0.6.10 + 0.6.11 The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc... Apache 2.0 diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml index 01bf7ca0e..77a025db0 100644 --- a/cob_elmo_homing/package.xml +++ b/cob_elmo_homing/package.xml @@ -1,7 +1,7 @@ cob_elmo_homing - 0.6.10 + 0.6.11 This packagae implements the special homing procedure that is needed for old cob4/raw bases Florian Weisshardt diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml index 463058147..c47908e9b 100644 --- a/cob_generic_can/package.xml +++ b/cob_generic_can/package.xml @@ -1,6 +1,6 @@ cob_generic_can - 0.6.10 + 0.6.11 The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters. Apache 2.0 diff --git a/cob_light/package.xml b/cob_light/package.xml index 5b3dc16a8..33a5c2dd1 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -1,6 +1,6 @@ cob_light - 0.6.10 + 0.6.11 This package contains scripts to operate the LED lights on Care-O-bot. Apache 2.0 diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index 7d144e24c..1bde49fc1 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -1,6 +1,6 @@ cob_mimic - 0.6.10 + 0.6.11 This package implements the Care-O-bot mimic Apache 2.0 diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index af6d43509..5b24cd8df 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_em_state - 0.6.10 + 0.6.11 The cob_phidget_em_state package Benjamin Maidel diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index ad3f941ed..bfb4d70f6 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_power_state - 0.6.10 + 0.6.11 The cob_phidget_power_state package Benjamin Maidel diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index bf948d72d..9ca31d320 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -1,6 +1,6 @@ cob_phidgets - 0.6.10 + 0.6.11 cob_phidgets Apache 2.0 diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml index 66dfe1e28..58c36bc34 100644 --- a/cob_relayboard/package.xml +++ b/cob_relayboard/package.xml @@ -1,6 +1,6 @@ cob_relayboard - 0.6.10 + 0.6.11 cob_relayboard Apache 2.0 diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index a65c7ad42..ef0fa52d1 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -1,7 +1,7 @@ cob_scan_unifier - 0.6.10 + 0.6.11 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Benjamin Maidel diff --git a/cob_sick_lms1xx/package.xml b/cob_sick_lms1xx/package.xml index 412560184..7bdfc415b 100644 --- a/cob_sick_lms1xx/package.xml +++ b/cob_sick_lms1xx/package.xml @@ -1,6 +1,6 @@ cob_sick_lms1xx - 0.6.10 + 0.6.11 This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install. diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index f46cca362..6097d7be6 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -1,6 +1,6 @@ cob_sick_s300 - 0.6.10 + 0.6.11 This package published a laser scan message out of a Sick S300 laser scanner. Apache 2.0 diff --git a/cob_sound/package.xml b/cob_sound/package.xml index 38e091a72..f3977288d 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -1,6 +1,6 @@ cob_sound - 0.6.10 + 0.6.11 This package implements a sound play module using text2wave and aplay through python. Apache 2.0 diff --git a/cob_undercarriage_ctrl/package.xml b/cob_undercarriage_ctrl/package.xml index fb6e3473f..5e4d2c909 100644 --- a/cob_undercarriage_ctrl/package.xml +++ b/cob_undercarriage_ctrl/package.xml @@ -1,6 +1,6 @@ cob_undercarriage_ctrl - 0.6.10 + 0.6.11 cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity Apache 2.0 diff --git a/cob_utilities/package.xml b/cob_utilities/package.xml index 951cdba03..8c05eee68 100644 --- a/cob_utilities/package.xml +++ b/cob_utilities/package.xml @@ -1,6 +1,6 @@ cob_utilities - 0.6.10 + 0.6.11 Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code! diff --git a/cob_voltage_control/package.xml b/cob_voltage_control/package.xml index beaf48b8e..acd40582d 100644 --- a/cob_voltage_control/package.xml +++ b/cob_voltage_control/package.xml @@ -1,6 +1,6 @@ cob_voltage_control - 0.6.10 + 0.6.11 Interface to IO board that manages emergency stop and battery voltage on rob@work 3 Apache 2.0 From 0a953b7c3b2cdb40bbcebd2f8c41b9de81fd40a2 Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Thu, 11 Jan 2018 15:18:40 +0100 Subject: [PATCH 26/52] merge up to 4 laserscans --- .../cob_scan_unifier/scan_unifier_node.h | 24 ++++++-- cob_scan_unifier/src/scan_unifier_node.cpp | 57 +++++++++++++++++-- 2 files changed, 71 insertions(+), 10 deletions(-) diff --git a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h index 62579266f..f665a9203 100644 --- a/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h +++ b/cob_scan_unifier/include/cob_scan_unifier/scan_unifier_node.h @@ -66,11 +66,25 @@ class ScanUnifierNode std::vector* > message_filter_subscribers_; - message_filters::Synchronizer >* synchronizer2_; - message_filters::Synchronizer >* synchronizer3_; - - void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& first_scanner, const sensor_msgs::LaserScan::ConstPtr& second_scanner); - void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& first_scanner, const sensor_msgs::LaserScan::ConstPtr& second_scanner, const sensor_msgs::LaserScan::ConstPtr& third_scanner); + message_filters::Synchronizer >* synchronizer2_; + message_filters::Synchronizer >* synchronizer3_; + message_filters::Synchronizer >* synchronizer4_; + + void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& first_scanner, + const sensor_msgs::LaserScan::ConstPtr& second_scanner); + void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& first_scanner, + const sensor_msgs::LaserScan::ConstPtr& second_scanner, + const sensor_msgs::LaserScan::ConstPtr& third_scanner); + void messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& first_scanner, + const sensor_msgs::LaserScan::ConstPtr& second_scanner, + const sensor_msgs::LaserScan::ConstPtr& third_scanner, + const sensor_msgs::LaserScan::ConstPtr& fourth_scanner); public: diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index 198a5248b..a46dc46f9 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -30,6 +30,9 @@ ScanUnifierNode::ScanUnifierNode() topicPub_LaserUnified_ = nh_.advertise("scan_unified", 1); getParams(); + synchronizer2_ = NULL; + synchronizer3_ = NULL; + synchronizer4_ = NULL; // Subscribe to Laserscan topics @@ -46,7 +49,8 @@ ScanUnifierNode::ScanUnifierNode() case 2: { typedef message_filters::sync_policies::ApproximateTime SyncPolicy; - synchronizer2_ = new message_filters::Synchronizer(SyncPolicy(2), *message_filter_subscribers_.at(0), *message_filter_subscribers_.at(1)); + synchronizer2_ = new message_filters::Synchronizer(SyncPolicy(2), *message_filter_subscribers_.at(0), + *message_filter_subscribers_.at(1)); // Set the InterMessageLowerBound to double the period of the laser scans publishing ( 1/{(1/2)*f_laserscans} ). synchronizer2_->setInterMessageLowerBound(0, ros::Duration(0.167)); synchronizer2_->setInterMessageLowerBound(1, ros::Duration(0.167)); @@ -56,13 +60,29 @@ ScanUnifierNode::ScanUnifierNode() case 3: { typedef message_filters::sync_policies::ApproximateTime SyncPolicy; - synchronizer3_ = new message_filters::Synchronizer(SyncPolicy(3), *message_filter_subscribers_.at(0), *message_filter_subscribers_.at(1), *message_filter_subscribers_.at(2)); + synchronizer3_ = new message_filters::Synchronizer(SyncPolicy(3), *message_filter_subscribers_.at(0), + *message_filter_subscribers_.at(1), + *message_filter_subscribers_.at(2)); synchronizer3_->setInterMessageLowerBound(0, ros::Duration(0.167)); synchronizer3_->setInterMessageLowerBound(1, ros::Duration(0.167)); synchronizer3_->setInterMessageLowerBound(2, ros::Duration(0.167)); synchronizer3_->registerCallback(boost::bind(&ScanUnifierNode::messageFilterCallback, this, _1, _2, _3)); break; } + case 4: + { + typedef message_filters::sync_policies::ApproximateTime SyncPolicy; + synchronizer4_ = new message_filters::Synchronizer(SyncPolicy(4), *message_filter_subscribers_.at(0), + *message_filter_subscribers_.at(1), + *message_filter_subscribers_.at(2), + *message_filter_subscribers_.at(3)); + synchronizer4_->setInterMessageLowerBound(0, ros::Duration(0.167)); + synchronizer4_->setInterMessageLowerBound(1, ros::Duration(0.167)); + synchronizer4_->setInterMessageLowerBound(2, ros::Duration(0.167)); + synchronizer4_->setInterMessageLowerBound(3, ros::Duration(0.167)); + synchronizer4_->registerCallback(boost::bind(&ScanUnifierNode::messageFilterCallback, this, _1, _2, _3, _4)); + break; + } default: ROS_ERROR_STREAM(config_.number_input_scans << " topics have been set as input, but scan_unifier doesn't support this."); return; @@ -75,8 +95,12 @@ ScanUnifierNode::ScanUnifierNode() ScanUnifierNode::~ScanUnifierNode() { - delete(synchronizer2_); - delete(synchronizer3_); + if(synchronizer2_ != NULL) + delete(synchronizer2_); + if(synchronizer3_ != NULL) + delete(synchronizer3_); + if(synchronizer4_ != NULL) + delete(synchronizer4_); } /** @@ -125,12 +149,35 @@ void ScanUnifierNode::messageFilterCallback(const sensor_msgs::LaserScan::ConstP topicPub_LaserUnified_.publish(unified_scan); } -void ScanUnifierNode::messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& scan1, const sensor_msgs::LaserScan::ConstPtr& scan2, const sensor_msgs::LaserScan::ConstPtr& scan3) +void ScanUnifierNode::messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& scan1, + const sensor_msgs::LaserScan::ConstPtr& scan2, + const sensor_msgs::LaserScan::ConstPtr& scan3) +{ + std::vector current_scans; + current_scans.push_back(scan1); + current_scans.push_back(scan2); + current_scans.push_back(scan3); + + sensor_msgs::LaserScan unified_scan = sensor_msgs::LaserScan(); + if (!unifyLaserScans(current_scans, unified_scan)) + { + return; + } + + ROS_DEBUG("Publishing unified scan."); + topicPub_LaserUnified_.publish(unified_scan); +} + +void ScanUnifierNode::messageFilterCallback(const sensor_msgs::LaserScan::ConstPtr& scan1, + const sensor_msgs::LaserScan::ConstPtr& scan2, + const sensor_msgs::LaserScan::ConstPtr& scan3, + const sensor_msgs::LaserScan::ConstPtr& scan4) { std::vector current_scans; current_scans.push_back(scan1); current_scans.push_back(scan2); current_scans.push_back(scan3); + current_scans.push_back(scan4); sensor_msgs::LaserScan unified_scan = sensor_msgs::LaserScan(); if (!unifyLaserScans(current_scans, unified_scan)) From 4869ac90c339992ee630a9c6ecce6fa1a60cff7f Mon Sep 17 00:00:00 2001 From: ipa-fmw Date: Wed, 14 Mar 2018 09:29:31 +0100 Subject: [PATCH 27/52] reduce travis overlays --- .travis.rosinstall.kinetic | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic index 9a03e8713..1bb8bf6d7 100644 --- a/.travis.rosinstall.kinetic +++ b/.travis.rosinstall.kinetic @@ -1,12 +1 @@ -- git: - uri: 'https://github.com/ipa320/cob_common.git' - local-name: cob_common - version: indigo_dev -- git: - uri: 'https://github.com/ipa320/cob_extern.git' - local-name: cob_extern - version: indigo_dev -- git: - uri: 'https://github.com/ipa320/cob_perception_common.git' - local-name: cob_perception_common - version: indigo_dev +# empty From 1ebbdd58fcb4eb36c0fe7de91d8cefe0cc134a8f Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Fri, 4 May 2018 16:47:52 +0200 Subject: [PATCH 28/52] allow to play non-default mimics by specifying full filepath --- cob_mimic/src/mimic_node.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 46926f02c..0c5bdf0bc 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -196,9 +196,17 @@ class Mimic // check if mimic exists if ( !boost::filesystem::exists(filename) ) { - ROS_ERROR("File not found: %s", filename.c_str()); - mutex_.unlock(); - return false; + if ( !boost::filesystem::exists(mimic) ) + { + ROS_ERROR("File not found: %s", filename.c_str()); + mutex_.unlock(); + return false; + } + else + { + ROS_INFO("Playing mimic from non-default file: %s", mimic.c_str()); + filename = mimic; + } } // repeat cannot be 0 From 71fcfde4093f1f9cfb51d3ee1138640c9b4f3812 Mon Sep 17 00:00:00 2001 From: ipa-fmw Date: Fri, 8 Jun 2018 10:45:18 +0200 Subject: [PATCH 29/52] round remaining_capacity --- cob_bms_driver/src/fake_bms.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cob_bms_driver/src/fake_bms.py b/cob_bms_driver/src/fake_bms.py index ce31f8461..480d3fa9b 100755 --- a/cob_bms_driver/src/fake_bms.py +++ b/cob_bms_driver/src/fake_bms.py @@ -73,7 +73,7 @@ def timer_cb(self, event): self.voltage = 48.0 self.pub_voltage.publish(self.voltage) self.pub_current.publish(self.current) - self.pub_remaining_capacity.publish(self.remaining_capacity) + self.pub_remaining_capacity.publish(round(self.remaining_capacity, 3)) self.pub_full_charge_capacity.publish(self.full_charge_capacity) self.pub_temparature.publish(self.temperature) From 2a283127e1b7892731acf6ed4543eb1a5a5f284f Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Wed, 20 Jun 2018 10:59:32 +0200 Subject: [PATCH 30/52] adjust to real driver precision --- cob_bms_driver/src/fake_bms.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/cob_bms_driver/src/fake_bms.py b/cob_bms_driver/src/fake_bms.py index 480d3fa9b..7d8114e61 100755 --- a/cob_bms_driver/src/fake_bms.py +++ b/cob_bms_driver/src/fake_bms.py @@ -37,24 +37,24 @@ def __init__(self): self.updater.setHardwareID("bms") self.updater.add("cob_bms_dagnostics_updater", self.produce_diagnostics) - self.voltage = 0.0 + self.voltage = 48.0 self.current = -8.0 self.remaining_capacity = 35.0 self.full_charge_capacity = 35.0 # Ah - self.temperature = 0.0 + self.temperature = 25.0 rospy.Timer(rospy.Duration(1.0), self.publish_diagnostics) rospy.Timer(rospy.Duration(1.0/self.poll_frequency), self.timer_cb) rospy.Timer(rospy.Duration(1.0/self.poll_frequency), self.timer_consume_power_cb) def current_cb(self, req): - self.current = req.data - res_current = SetFloatResponse(True, "Set current to {}".format(req.data)) + self.current = round(req.data,2) + res_current = SetFloatResponse(True, "Set current to {}".format(self.current)) return res_current def relative_remaining_capacity_cb(self, req): self.remaining_capacity = round(((req.data * self.full_charge_capacity)/100.0), 3) - res_capacity = SetFloatResponse(True, "Set relative remaining capacity to {}".format(req.data)) + res_capacity = SetFloatResponse(True, "Set relative remaining capacity to {}".format(self.remaining_capacity)) return res_capacity def publish_diagnostics(self, event): @@ -70,20 +70,20 @@ def produce_diagnostics(self, stat): return stat def timer_cb(self, event): - self.voltage = 48.0 self.pub_voltage.publish(self.voltage) self.pub_current.publish(self.current) - self.pub_remaining_capacity.publish(round(self.remaining_capacity, 3)) + self.pub_remaining_capacity.publish(self.remaining_capacity) self.pub_full_charge_capacity.publish(self.full_charge_capacity) self.pub_temparature.publish(self.temperature) def timer_consume_power_cb(self, event): # emulate the battery usage based on the current values self.remaining_capacity += (self.current/self.poll_frequency)/3600.0 + self.remaining_capacity = round(self.remaining_capacity,3) if self.remaining_capacity <= 0.0: self.remaining_capacity = 0.0 if self.remaining_capacity >= self.full_charge_capacity: - self.remaining_capacity = self.full_charge_capacity + self.remaining_capacity = round(self.full_charge_capacity,3) if __name__ == '__main__': rospy.init_node('fake_bms') From afbb4ea8c7a098733adb967327ee57802e1a5b55 Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Sat, 7 Jul 2018 11:46:42 +0200 Subject: [PATCH 31/52] bulletproof mimic --- cob_mimic/src/mimic_node.cpp | 49 +++++++++++++++++++++++------------- 1 file changed, 31 insertions(+), 18 deletions(-) diff --git a/cob_mimic/src/mimic_node.cpp b/cob_mimic/src/mimic_node.cpp index 0c5bdf0bc..8e2bc4390 100644 --- a/cob_mimic/src/mimic_node.cpp +++ b/cob_mimic/src/mimic_node.cpp @@ -85,9 +85,11 @@ class Mimic int argc = sizeof( argv ) / sizeof( *argv ); vlc_inst_ = libvlc_new(argc, argv); + if(!vlc_inst_){ROS_ERROR("failed to create libvlc instance"); return false;} vlc_player_ = libvlc_media_player_new(vlc_inst_); - if(!sim_enabled_) - libvlc_set_fullscreen(vlc_player_, 1); + if(!vlc_player_){ROS_ERROR("failed to create vlc media player object"); return false;} + + if(!sim_enabled_){libvlc_set_fullscreen(vlc_player_, 1);} set_mimic("default", 1, 1.0, false); blinking_timer_ = nh_.createTimer(ros::Duration(real_dist_(gen_)), &Mimic::blinking_cb, this, true); as_mimic_.start(); @@ -219,31 +221,43 @@ class Mimic speed = 1.0; } - libvlc_media_player_set_rate(vlc_player_, speed); + // returns -1 if an error was detected, 0 otherwise (but even then, it might not actually work depending on the underlying media protocol) + if(libvlc_media_player_set_rate(vlc_player_, speed)!=0){ROS_ERROR("failed to set movie play rate");} while(repeat > 0) { vlc_media_ = libvlc_media_new_path(vlc_inst_, filename.c_str()); + if(!vlc_media_) + { + ROS_ERROR("failed to create media for filepath %s", filename.c_str()); + mutex_.unlock(); + return false; + } + + libvlc_media_player_set_media(vlc_player_, vlc_media_); + libvlc_media_release(vlc_media_); - if (vlc_media_ != NULL) + // returns 0 if playback started (and was already started), or -1 on error. + if(libvlc_media_player_play(vlc_player_)!=0) + { + ROS_ERROR("failed to play"); + mutex_.unlock(); + return false; + } + + ros::Duration(0.1).sleep(); + while(blocking && (libvlc_media_player_is_playing(vlc_player_) == 1)) { - libvlc_media_player_set_media(vlc_player_, vlc_media_); - libvlc_media_release(vlc_media_); - libvlc_media_player_play(vlc_player_); ros::Duration(0.1).sleep(); - while(blocking && (libvlc_media_player_is_playing(vlc_player_) == 1)) + ROS_DEBUG("still playing %s", mimic.c_str()); + if(new_mimic_request_) { - ros::Duration(0.1).sleep(); - ROS_DEBUG("still playing %s", mimic.c_str()); - if(new_mimic_request_) - { - ROS_WARN("mimic %s preempted", mimic.c_str()); - mutex_.unlock(); - return false; - } + ROS_WARN("mimic %s preempted", mimic.c_str()); + mutex_.unlock(); + return false; } - repeat --; } + repeat --; } mutex_.unlock(); return true; @@ -266,7 +280,6 @@ class Mimic if(!fs::exists(source) || !fs::is_directory(source)) { ROS_ERROR_STREAM("Source directory " << source.string() << " does not exist or is not a directory."); - ; return false; } if(fs::exists(mimic_folder)) From 2c07a6ff266f2761af33d6fd57c4c5a74ac0fe96 Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Sat, 7 Jul 2018 13:09:46 +0200 Subject: [PATCH 32/52] bulletproof sound --- cob_sound/ros/src/sound.cpp | 170 ++++++++++++++++++++---------------- 1 file changed, 96 insertions(+), 74 deletions(-) diff --git a/cob_sound/ros/src/sound.cpp b/cob_sound/ros/src/sound.cpp index 6087b3fca..54dbb733b 100644 --- a/cob_sound/ros/src/sound.cpp +++ b/cob_sound/ros/src/sound.cpp @@ -26,6 +26,8 @@ #include #include +#include +#include class SoundAction { @@ -61,6 +63,22 @@ class SoundAction as_play_(nh_, ros::this_node::getName() + "/play", false) { nh_ = ros::NodeHandle("~"); + } + + ~SoundAction(void) + { + libvlc_media_player_stop(vlc_player_); + libvlc_media_player_release(vlc_player_); + libvlc_release(vlc_inst_); + } + + bool init() + { + vlc_inst_ = libvlc_new(0,NULL); + if(!vlc_inst_){ROS_ERROR("failed to create libvlc instance"); return false;} + vlc_player_ = libvlc_media_player_new(vlc_inst_); + if(!vlc_player_){ROS_ERROR("failed to create vlc media player object"); return false;} + as_play_.registerGoalCallback(boost::bind(&SoundAction::as_goal_cb_play_, this)); as_play_.registerPreemptCallback(boost::bind(&SoundAction::as_preempt_cb_play_, this)); srvServer_say_ = nh_.advertiseService("say", &SoundAction::service_cb_say, this); @@ -79,18 +97,9 @@ class SoundAction mute_ = false; - vlc_inst_ = libvlc_new(0,NULL); - vlc_player_ = libvlc_media_player_new(vlc_inst_); - as_say_.start(); as_play_.start(); - } - - ~SoundAction(void) - { - libvlc_media_player_stop(vlc_player_); - libvlc_media_player_release(vlc_player_); - libvlc_release(vlc_inst_); + return true; } void as_goal_cb_play_() @@ -153,6 +162,12 @@ class SoundAction cob_srvs::SetString::Response &res ) { res.success = play(req.data, res.message); + ros::Duration(0.1).sleep(); + while((libvlc_media_player_is_playing(vlc_player_) == 1)) + { + ros::Duration(0.1).sleep(); + ROS_DEBUG("still playing %s", req.data.c_str()); + } return true; } @@ -246,91 +261,75 @@ class SoundAction { command = "echo " + data + " | text2wave | aplay -q"; } - if (system(command.c_str()) != 0) + + int ret = system(command.c_str()); + if (ret != 0) { - message = "Command say failed to play sound using mode " + mode; + message = "Command say failed to say '" + data + "' using mode " + mode + " (system return value: " + boost::lexical_cast(ret) + ")"; ROS_ERROR_STREAM(message); - // publishing diagnotic error if output fails - diagnostic_msgs::DiagnosticStatus status; - status.level = 2; - status.name = "sound"; - status.message = message; - diagnostics_.status.push_back(status); - - diagnostics_.header.stamp = ros::Time::now(); - diagnostics_pub_.publish(diagnostics_); - - diagnostics_.status.resize(0); + publish_diagnostics(diagnostic_msgs::DiagnosticStatus::ERROR, message); return false; } + + message = "Say successfull"; return true; } bool play(std::string filename, std::string &message) { - bool ret = false; if (mute_) { message = "Sound is set to mute. You will hear nothing."; ROS_WARN_STREAM(message); - return ret; + return false; } - + if (filename.empty()) { - message = "Cannot play because filename is empty."; - ROS_WARN_STREAM(message); - return ret; - } + message = "Cannot play because filename is empty."; + ROS_WARN_STREAM(message); + return false; + } + + if ( !boost::filesystem::exists(filename) ) + { + message = "Cannot play '" + filename +"' because file does not exist."; + ROS_WARN_STREAM(message); + return false; + } - ROS_INFO("Playing: %s", filename.c_str()); vlc_media_ = libvlc_media_new_path(vlc_inst_, filename.c_str()); + if(!vlc_media_) + { + message = "failed to create media for filepath %s", filename.c_str(); + ROS_WARN_STREAM(message); + return false; + } - if (vlc_media_ != NULL) + libvlc_media_player_set_media(vlc_player_, vlc_media_); + libvlc_media_release(vlc_media_); + + if(!fade_out()) { - libvlc_media_player_set_media(vlc_player_, vlc_media_); - libvlc_media_release(vlc_media_); - fade_out(); - if(fade_in()) - { - ret = true; - message = "Play successfull"; - } + message = "failed to fade out"; + ROS_WARN_STREAM(message); + return false; } - if(ret == false) + + if(!fade_in()) { - message = "Could not play file %s" + filename; - ROS_ERROR_STREAM(message); - // publishing diagnotic error if output fails - diagnostic_msgs::DiagnosticStatus status; - status.level = 2; - status.name = "sound"; - status.message = message; - diagnostics_.status.push_back(status); - - diagnostics_.header.stamp = ros::Time::now(); - diagnostics_pub_.publish(diagnostics_); - - diagnostics_.status.resize(0); - return ret; + message = "failed to fade in"; + ROS_WARN_STREAM(message); + return false; } - return ret; + message = "Play successfull"; + return true; } void timer_cb(const ros::TimerEvent&) { - diagnostic_msgs::DiagnosticStatus status; - status.level = 0; - status.name = "sound"; - status.hardware_id = "none"; - status.message = "sound controller running"; - diagnostics_.status.push_back(status); - - diagnostics_.header.stamp = ros::Time::now(); - diagnostics_pub_.publish(diagnostics_); - - diagnostics_.status.resize(0); + publish_diagnostics(diagnostic_msgs::DiagnosticStatus::OK, "sound controller running"); } void timer_play_feedback_cb(const ros::TimerEvent&) @@ -385,6 +384,21 @@ class SoundAction pubMarker_.publish(marker); } + void publish_diagnostics(unsigned char level, std::string message) + { + diagnostic_msgs::DiagnosticStatus status; + status.level = level; + status.name = "sound"; + status.hardware_id = "sound"; + status.message = message; + diagnostics_.status.push_back(status); + + diagnostics_.header.stamp = ros::Time::now(); + diagnostics_pub_.publish(diagnostics_); + + diagnostics_.status.resize(0); + } + bool fade_in() { if(libvlc_media_player_play(vlc_player_) >= 0) @@ -403,11 +417,13 @@ class SoundAction { while(libvlc_audio_set_volume(vlc_player_,100) != 0) ros::Duration(0.05).sleep(); - } } else + { return false; + } + return true; } @@ -418,7 +434,7 @@ class SoundAction { if(fade_volume_) { - for(int i = volume - (volume%5); i >=0; i-=5) + for(int i = volume - (volume%5); i>=0; i-=5) { libvlc_audio_set_volume(vlc_player_,i); ros::Duration(fade_duration_/20.0).sleep(); @@ -427,7 +443,6 @@ class SoundAction } return true; } - }; @@ -436,8 +451,15 @@ int main(int argc, char** argv) ros::init(argc, argv, "cob_sound"); SoundAction sound; - ROS_INFO("sound node started"); - - ros::spin(); - return 0; + if(!sound.init()) + { + ROS_ERROR("sound init failed"); + return 1; + } + else + { + ROS_INFO("sound node started"); + ros::spin(); + return 0; + } } From efe3076d2d2ac8cf93571c3507fd44aa6e5488ad Mon Sep 17 00:00:00 2001 From: ipa-fxm Date: Sat, 7 Jul 2018 13:17:47 +0200 Subject: [PATCH 33/52] remove faulty publish_rate mechanism --- cob_sick_s300/ros/src/cob_sick_s300.cpp | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/cob_sick_s300/ros/src/cob_sick_s300.cpp b/cob_sick_s300/ros/src/cob_sick_s300.cpp index 29e4b6cde..34fff6427 100644 --- a/cob_sick_s300/ros/src/cob_sick_s300.cpp +++ b/cob_sick_s300/ros/src/cob_sick_s300.cpp @@ -67,7 +67,7 @@ class NodeClass // global variables std::string port; std::string node_name; - int baud, scan_id, publish_frequency; + int baud, scan_id; bool inverted; double scan_duration, scan_cycle_time; std::string frame_id; @@ -76,7 +76,6 @@ class NodeClass bool syncedTimeReady; bool debug_; ScannerSickS300 scanner_; - ros::Time loop_rate_; std_msgs::Bool inStandby_; // Constructor @@ -106,9 +105,6 @@ class NodeClass if(!nh.hasParam("scan_cycle_time")) ROS_WARN("Used default parameter for scan_cycle_time"); nh.param("scan_cycle_time", scan_cycle_time, 0.040); //SICK-docu says S300 scans every 40ms - if (!nh.hasParam("publish_frequency")) ROS_WARN("Used default parameter for publish_frequency"); - nh.param("publish_frequency", publish_frequency, 12); //Hz - if(nh.hasParam("debug")) nh.param("debug", debug_, false); try @@ -178,8 +174,6 @@ class NodeClass topicPub_LaserScan = nh.advertise("scan", 1); topicPub_InStandby = nh.advertise("scan_standby", 1); topicPub_Diagnostic_ = nh.advertise("/diagnostics", 1); - - loop_rate_ = ros::Time::now(); // Hz } bool open() { @@ -220,10 +214,6 @@ class NodeClass // other function declarations void publishLaserScan(std::vector vdDistM, std::vector vdAngRAD, std::vector vdIntensAU, unsigned int iSickTimeStamp, unsigned int iSickNow) { - if(ros::Time::now()-loop_rate_.now()>=ros::Duration(1./publish_frequency)) - return; - loop_rate_ = ros::Time::now(); - // fill message int start_scan, stop_scan; int num_readings = vdDistM.size(); // initialize with max scan size @@ -337,7 +327,6 @@ int main(int argc, char** argv) ROS_INFO("Opening scanner... (port:%s)", nodeClass.port.c_str()); bOpenScan = nodeClass.open(); - //bOpenScan = sickS300.open(errors, nodeClass.debug_); // check, if it is the first try to open scanner if (!bOpenScan) { From 1bb6fc9336952be135971aebd3445bffb89997e3 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Sat, 21 Jul 2018 16:14:42 +0200 Subject: [PATCH 34/52] update maintainer --- cob_bms_driver/package.xml | 1 + cob_driver/package.xml | 1 + cob_light/package.xml | 3 ++- cob_mimic/package.xml | 1 + cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/package.xml | 2 +- cob_scan_unifier/package.xml | 3 ++- cob_sick_s300/package.xml | 2 +- cob_sound/package.xml | 3 ++- 10 files changed, 13 insertions(+), 7 deletions(-) diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index 255d46664..bdb694939 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -6,6 +6,7 @@ Driver package for interfacing the battery management system (BMS) on Care-O-bot. + Felix Messmer Florian Weisshardt mig-mc Mathias Lüdtke diff --git a/cob_driver/package.xml b/cob_driver/package.xml index 82cd1648e..c82c709d3 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -8,6 +8,7 @@ http://ros.org/wiki/cob_driver + Felix Messmer Florian Weisshardt catkin diff --git a/cob_light/package.xml b/cob_light/package.xml index 33a5c2dd1..5d6bab17e 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -8,7 +8,8 @@ http://ros.org/wiki/cob_light - Benjamin Maidel + Felix Messmer + Benjamin Maidel Benjamin Maidel catkin diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index 1bde49fc1..c32a36f1d 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -7,6 +7,7 @@ http://ros.org/wiki/cob_mimic + Felix Messmer Benjamin Maidel Nadia Hammoudeh Garcia Benjamin Maidel diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index 5b24cd8df..8610e7e2f 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -4,7 +4,7 @@ 0.6.11 The cob_phidget_em_state package - Benjamin Maidel + Benjamin Maidel Benjamin Maidel Apache 2.0 diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index bfb4d70f6..60c130c2d 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -4,7 +4,7 @@ 0.6.11 The cob_phidget_power_state package - Benjamin Maidel + Benjamin Maidel Benjamin Maidel Apache 2.0 diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index 9ca31d320..78305b68e 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -8,7 +8,7 @@ http://ros.org/wiki/cob_phidgets - Benjamin Maidel + Benjamin Maidel Florian Weisshardt catkin diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index ef0fa52d1..b764cdd1f 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -4,7 +4,8 @@ 0.6.11 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message - Benjamin Maidel + Felix Messmer + Benjamin Maidel Florian Mirus Apache 2.0 diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index 6097d7be6..038369261 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -8,7 +8,7 @@ http://ros.org/wiki/cob_sick_s300 - Joshua Hampp + Felix Messmer Florian Weisshardt catkin diff --git a/cob_sound/package.xml b/cob_sound/package.xml index f3977288d..f8b1bc473 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -8,7 +8,8 @@ http://ros.org/wiki/cob_sound - Benjamin Maidel + Felix Messmer + Benjamin Maidel Florian Weisshardt Benjamin Maidel From 450a4fa9f8ad0b29eb651ba9b11dbc8b6ba4677d Mon Sep 17 00:00:00 2001 From: fmessmer Date: Sat, 21 Jul 2018 16:15:27 +0200 Subject: [PATCH 35/52] update changelogs --- cob_base_drive_chain/CHANGELOG.rst | 3 +++ cob_bms_driver/CHANGELOG.rst | 9 +++++++++ cob_camera_sensors/CHANGELOG.rst | 3 +++ cob_canopen_motor/CHANGELOG.rst | 3 +++ cob_driver/CHANGELOG.rst | 5 +++++ cob_elmo_homing/CHANGELOG.rst | 3 +++ cob_generic_can/CHANGELOG.rst | 3 +++ cob_light/CHANGELOG.rst | 5 +++++ cob_mimic/CHANGELOG.rst | 11 +++++++++++ cob_phidget_em_state/CHANGELOG.rst | 5 +++++ cob_phidget_power_state/CHANGELOG.rst | 5 +++++ cob_phidgets/CHANGELOG.rst | 5 +++++ cob_relayboard/CHANGELOG.rst | 3 +++ cob_scan_unifier/CHANGELOG.rst | 8 ++++++++ cob_sick_lms1xx/CHANGELOG.rst | 3 +++ cob_sick_s300/CHANGELOG.rst | 8 ++++++++ cob_sound/CHANGELOG.rst | 11 +++++++++++ cob_undercarriage_ctrl/CHANGELOG.rst | 3 +++ cob_utilities/CHANGELOG.rst | 3 +++ cob_voltage_control/CHANGELOG.rst | 3 +++ 20 files changed, 102 insertions(+) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index cd7bfd863..684b2a937 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 8e5b4b290..239e6f8ba 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Merge pull request `#374 `_ from floweisshardt/feature/round_remaining_capacity + round remaining_capacity +* adjust to real driver precision +* round remaining_capacity +* Contributors: Felix Messmer, fmessmer, ipa-fmw, ipa-fxm + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 096188753..897f15765 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 2dffe114e..65ba45f72 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index 29b72e005..d62c05021 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Contributors: fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index d4d2058ad..70767e46d 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index a6c1ac1b8..09f2a3e13 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 79dd51b6e..2c60f1df6 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Contributors: fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index e5a88bbcc..fe5fd7c89 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Merge pull request `#375 `_ from fmessmer/bulletproof_mimic + bulletproof mimic +* bulletproof mimic +* Merge pull request `#371 `_ from fmessmer/mimic_play_nondefault_mimics + allow to play non-default mimics by specifying full filepath +* allow to play non-default mimics by specifying full filepath +* Contributors: Felix Messmer, fmessmer, ipa-fxm + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 00e2f8a45..82b9fa3b8 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Contributors: fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 4d7b02d14..480ba0120 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Contributors: fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 078eef74c..9ae9b5092 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Contributors: fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index fd1a33b5f..48e16d83d 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 863a67a4a..13a89d1b7 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Merge pull request `#366 `_ from ipa-bnm/feature/scan_unifier + merge up to 4 laserscans +* merge up to 4 laserscans +* Contributors: Benjamin Maidel, Richard Bormann, fmessmer + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index 85d83a4f1..6d6af9940 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index 2041f1a1b..1c408dee4 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Merge pull request `#377 `_ from fmessmer/fix_sicks300_rate + remove faulty publish_rate mechanism +* remove faulty publish_rate mechanism +* Contributors: Felix Messmer, fmessmer, ipa-fxm + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 1c07f29ae..4edd2a538 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* update maintainer +* Merge pull request `#376 `_ from fmessmer/bulletproof_sound + bulletproof sound +* bulletproof sound +* Merge pull request `#362 `_ from ipa-fmw/fix/sound_play + [cob_sound] catch if filename is empty or invalid +* catch if filename is empty +* Contributors: Felix Messmer, fmessmer, ipa-fxm, msh + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 3763122d1..df5ae66f8 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index 01cf6a879..ed8c5c8b2 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index e7cf9c7c6..2c799ef1b 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.11 (2018-01-07) ------------------- * Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev From 444d5fe77d71e3fceaa3ee185694619c7124e2a5 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Sat, 21 Jul 2018 16:15:47 +0200 Subject: [PATCH 36/52] 0.6.12 --- cob_base_drive_chain/CHANGELOG.rst | 4 ++-- cob_base_drive_chain/package.xml | 2 +- cob_bms_driver/CHANGELOG.rst | 4 ++-- cob_bms_driver/package.xml | 2 +- cob_camera_sensors/CHANGELOG.rst | 4 ++-- cob_camera_sensors/package.xml | 2 +- cob_canopen_motor/CHANGELOG.rst | 4 ++-- cob_canopen_motor/package.xml | 2 +- cob_driver/CHANGELOG.rst | 4 ++-- cob_driver/package.xml | 2 +- cob_elmo_homing/CHANGELOG.rst | 4 ++-- cob_elmo_homing/package.xml | 2 +- cob_generic_can/CHANGELOG.rst | 4 ++-- cob_generic_can/package.xml | 2 +- cob_light/CHANGELOG.rst | 4 ++-- cob_light/package.xml | 2 +- cob_mimic/CHANGELOG.rst | 4 ++-- cob_mimic/package.xml | 2 +- cob_phidget_em_state/CHANGELOG.rst | 4 ++-- cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/CHANGELOG.rst | 4 ++-- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/CHANGELOG.rst | 4 ++-- cob_phidgets/package.xml | 2 +- cob_relayboard/CHANGELOG.rst | 4 ++-- cob_relayboard/package.xml | 2 +- cob_scan_unifier/CHANGELOG.rst | 4 ++-- cob_scan_unifier/package.xml | 2 +- cob_sick_lms1xx/CHANGELOG.rst | 4 ++-- cob_sick_lms1xx/package.xml | 2 +- cob_sick_s300/CHANGELOG.rst | 4 ++-- cob_sick_s300/package.xml | 2 +- cob_sound/CHANGELOG.rst | 4 ++-- cob_sound/package.xml | 2 +- cob_undercarriage_ctrl/CHANGELOG.rst | 4 ++-- cob_undercarriage_ctrl/package.xml | 2 +- cob_utilities/CHANGELOG.rst | 4 ++-- cob_utilities/package.xml | 2 +- cob_voltage_control/CHANGELOG.rst | 4 ++-- cob_voltage_control/package.xml | 2 +- 40 files changed, 60 insertions(+), 60 deletions(-) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index 684b2a937..0ad5597da 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml index 01a4b2bec..af030319f 100644 --- a/cob_base_drive_chain/package.xml +++ b/cob_base_drive_chain/package.xml @@ -1,6 +1,6 @@ cob_base_drive_chain - 0.6.11 + 0.6.12 This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information. Apache 2.0 diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 239e6f8ba..1dfdee35f 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Merge pull request `#374 `_ from floweisshardt/feature/round_remaining_capacity round remaining_capacity diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index bdb694939..7f25cbd8e 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -1,7 +1,7 @@ cob_bms_driver - 0.6.11 + 0.6.12 Driver package for interfacing the battery management system (BMS) on Care-O-bot. diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 897f15765..83af3f412 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml index 5d676f7c5..ae6cc81e2 100644 --- a/cob_camera_sensors/package.xml +++ b/cob_camera_sensors/package.xml @@ -1,6 +1,6 @@ cob_camera_sensors - 0.6.11 + 0.6.12 For more information read the readme.htm file located in Apache 2.0 diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 65ba45f72..83ed2ee17 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml index c707e08aa..790dfd19d 100644 --- a/cob_canopen_motor/package.xml +++ b/cob_canopen_motor/package.xml @@ -1,6 +1,6 @@ cob_canopen_motor - 0.6.11 + 0.6.12 The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica". Apache 2.0 diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index d62c05021..6c8dc8a60 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Contributors: fmessmer diff --git a/cob_driver/package.xml b/cob_driver/package.xml index c82c709d3..5ab367928 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -1,6 +1,6 @@ cob_driver - 0.6.11 + 0.6.12 The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc... Apache 2.0 diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index 70767e46d..a49b4dce4 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml index 77a025db0..dff648a9d 100644 --- a/cob_elmo_homing/package.xml +++ b/cob_elmo_homing/package.xml @@ -1,7 +1,7 @@ cob_elmo_homing - 0.6.11 + 0.6.12 This packagae implements the special homing procedure that is needed for old cob4/raw bases Florian Weisshardt diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index 09f2a3e13..77d5d17eb 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml index c47908e9b..45842c81c 100644 --- a/cob_generic_can/package.xml +++ b/cob_generic_can/package.xml @@ -1,6 +1,6 @@ cob_generic_can - 0.6.11 + 0.6.12 The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters. Apache 2.0 diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 2c60f1df6..fbb5bcb96 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Contributors: fmessmer diff --git a/cob_light/package.xml b/cob_light/package.xml index 5d6bab17e..4c72c9a25 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -1,6 +1,6 @@ cob_light - 0.6.11 + 0.6.12 This package contains scripts to operate the LED lights on Care-O-bot. Apache 2.0 diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index fe5fd7c89..38f6d69e0 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Merge pull request `#375 `_ from fmessmer/bulletproof_mimic bulletproof mimic diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index c32a36f1d..a37435de9 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -1,6 +1,6 @@ cob_mimic - 0.6.11 + 0.6.12 This package implements the Care-O-bot mimic Apache 2.0 diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 82b9fa3b8..4d14e70c0 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Contributors: fmessmer diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index 8610e7e2f..7c6bc7d9a 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_em_state - 0.6.11 + 0.6.12 The cob_phidget_em_state package Benjamin Maidel diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 480ba0120..666cbb6e5 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Contributors: fmessmer diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index 60c130c2d..2ca77a3cc 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_power_state - 0.6.11 + 0.6.12 The cob_phidget_power_state package Benjamin Maidel diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 9ae9b5092..5933ee253 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Contributors: fmessmer diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index 78305b68e..2dddcee82 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -1,6 +1,6 @@ cob_phidgets - 0.6.11 + 0.6.12 cob_phidgets Apache 2.0 diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 48e16d83d..6ed6b8dd2 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml index 58c36bc34..3c5bc31ab 100644 --- a/cob_relayboard/package.xml +++ b/cob_relayboard/package.xml @@ -1,6 +1,6 @@ cob_relayboard - 0.6.11 + 0.6.12 cob_relayboard Apache 2.0 diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index 13a89d1b7..a781ee827 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Merge pull request `#366 `_ from ipa-bnm/feature/scan_unifier merge up to 4 laserscans diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index b764cdd1f..220f4ed2c 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -1,7 +1,7 @@ cob_scan_unifier - 0.6.11 + 0.6.12 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Felix Messmer diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index 6d6af9940..c8cd00355 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_sick_lms1xx/package.xml b/cob_sick_lms1xx/package.xml index 7bdfc415b..040d438fc 100644 --- a/cob_sick_lms1xx/package.xml +++ b/cob_sick_lms1xx/package.xml @@ -1,6 +1,6 @@ cob_sick_lms1xx - 0.6.11 + 0.6.12 This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install. diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index 1c408dee4..f04803243 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Merge pull request `#377 `_ from fmessmer/fix_sicks300_rate remove faulty publish_rate mechanism diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index 038369261..f30758028 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -1,6 +1,6 @@ cob_sick_s300 - 0.6.11 + 0.6.12 This package published a laser scan message out of a Sick S300 laser scanner. Apache 2.0 diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index 4edd2a538..b57e47481 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- * update maintainer * Merge pull request `#376 `_ from fmessmer/bulletproof_sound bulletproof sound diff --git a/cob_sound/package.xml b/cob_sound/package.xml index f8b1bc473..31c82c843 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -1,6 +1,6 @@ cob_sound - 0.6.11 + 0.6.12 This package implements a sound play module using text2wave and aplay through python. Apache 2.0 diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index df5ae66f8..84c0b059b 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_undercarriage_ctrl/package.xml b/cob_undercarriage_ctrl/package.xml index 5e4d2c909..1e82c9318 100644 --- a/cob_undercarriage_ctrl/package.xml +++ b/cob_undercarriage_ctrl/package.xml @@ -1,6 +1,6 @@ cob_undercarriage_ctrl - 0.6.11 + 0.6.12 cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity Apache 2.0 diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index ed8c5c8b2..7147f6adb 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_utilities/package.xml b/cob_utilities/package.xml index 8c05eee68..c3fdec08f 100644 --- a/cob_utilities/package.xml +++ b/cob_utilities/package.xml @@ -1,6 +1,6 @@ cob_utilities - 0.6.11 + 0.6.12 Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code! diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index 2c799ef1b..5887df8ca 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.12 (2018-07-21) +------------------- 0.6.11 (2018-01-07) ------------------- diff --git a/cob_voltage_control/package.xml b/cob_voltage_control/package.xml index acd40582d..de3854bba 100644 --- a/cob_voltage_control/package.xml +++ b/cob_voltage_control/package.xml @@ -1,6 +1,6 @@ cob_voltage_control - 0.6.11 + 0.6.12 Interface to IO board that manages emergency stop and battery voltage on rob@work 3 Apache 2.0 From 68357df0fb8379e7aacac559c3d5d59935777068 Mon Sep 17 00:00:00 2001 From: mateuszcierpikowski Date: Fri, 3 Aug 2018 14:28:08 +0200 Subject: [PATCH 37/52] add auto reconnect when scanner is disconnected --- cob_sick_s300/ros/src/cob_sick_s300.cpp | 63 ++++++++++++++++++------- 1 file changed, 45 insertions(+), 18 deletions(-) diff --git a/cob_sick_s300/ros/src/cob_sick_s300.cpp b/cob_sick_s300/ros/src/cob_sick_s300.cpp index 34fff6427..96eac2a7c 100644 --- a/cob_sick_s300/ros/src/cob_sick_s300.cpp +++ b/cob_sick_s300/ros/src/cob_sick_s300.cpp @@ -75,6 +75,7 @@ class NodeClass unsigned int syncedSICKStamp; bool syncedTimeReady; bool debug_; + double communication_timeout; ScannerSickS300 scanner_; std_msgs::Bool inStandby_; @@ -107,6 +108,9 @@ class NodeClass if(nh.hasParam("debug")) nh.param("debug", debug_, false); + if(!nh.hasParam("communication_timeout")) ROS_WARN("Used default parameter for communication timeout"); + nh.param("communication_timeout", communication_timeout, 0.2); + try { //get params for each measurement @@ -180,11 +184,14 @@ class NodeClass return scanner_.open(port.c_str(), baud, scan_id); } - void receiveScan() { + bool receiveScan() { std::vector< double > ranges, rangeAngles, intensities; unsigned int iSickTimeStamp, iSickNow; - if(scanner_.getScan(ranges, rangeAngles, intensities, iSickTimeStamp, iSickNow, debug_)) + int result = scanner_.getScan(ranges, rangeAngles, intensities, iSickTimeStamp, iSickNow, debug_); + static boost::posix_time::ptime point_time_communiaction_ok = boost::posix_time::microsec_clock::local_time(); + + if(result) { if(scanner_.isInStandby()) { @@ -197,7 +204,21 @@ class NodeClass publishStandby(false); publishLaserScan(ranges, rangeAngles, intensities, iSickTimeStamp, iSickNow); } + + point_time_communiaction_ok = boost::posix_time::microsec_clock::local_time(); + } + else + { + boost::posix_time::time_duration diff = boost::posix_time::microsec_clock::local_time() - point_time_communiaction_ok; + + if (diff.total_milliseconds() > static_cast(1000*communication_timeout)) + { + ROS_WARN("Communiaction timeout"); + return false; + } } + + return true; } // Destructor @@ -322,26 +343,32 @@ int main(int argc, char** argv) NodeClass nodeClass; - bool bOpenScan = false; - while (!bOpenScan && ros::ok()) { - ROS_INFO("Opening scanner... (port:%s)", nodeClass.port.c_str()); + while (ros::ok()) + { + bool bOpenScan = false; + while (!bOpenScan && ros::ok()) { + ROS_INFO("Opening scanner... (port:%s)", nodeClass.port.c_str()); - bOpenScan = nodeClass.open(); + bOpenScan = nodeClass.open(); - // check, if it is the first try to open scanner - if (!bOpenScan) { - ROS_ERROR("...scanner not available on port %s. Will retry every second.", nodeClass.port.c_str()); - nodeClass.publishError("...scanner not available on port"); + // check, if it is the first try to open scanner + if (!bOpenScan) { + ROS_ERROR("...scanner not available on port %s. Will retry every second.", nodeClass.port.c_str()); + nodeClass.publishError("...scanner not available on port"); + } + sleep(1); // wait for scan to get ready if successfull, or wait befor retrying } - sleep(1); // wait for scan to get ready if successfull, or wait befor retrying - } - ROS_INFO("...scanner opened successfully on port %s", nodeClass.port.c_str()); + ROS_INFO("...scanner opened successfully on port %s", nodeClass.port.c_str()); - // main loop - while (ros::ok()) { - // read scan - nodeClass.receiveScan(); - ros::spinOnce(); + // main loop + while (ros::ok()) { + // read scan + if (!nodeClass.receiveScan()) + { + break; + } + ros::spinOnce(); + } } return 0; } From f02e0c8fc7344c16c74ea3068aee088deb31d01e Mon Sep 17 00:00:00 2001 From: Patrick Holthaus Date: Fri, 27 Apr 2018 16:22:07 +0100 Subject: [PATCH 38/52] include boost/format.hpp --- cob_bms_driver/src/cob_bms_driver_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/cob_bms_driver/src/cob_bms_driver_node.cpp b/cob_bms_driver/src/cob_bms_driver_node.cpp index 571263817..e440b3136 100644 --- a/cob_bms_driver/src/cob_bms_driver_node.cpp +++ b/cob_bms_driver/src/cob_bms_driver_node.cpp @@ -21,6 +21,7 @@ #include #include +#include #include From 8dc5c57359c40b5c20cd8a31ce5e000a50d6ae69 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Tue, 28 Aug 2018 08:27:48 +0200 Subject: [PATCH 39/52] fix install tags --- cob_sound/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cob_sound/CMakeLists.txt b/cob_sound/CMakeLists.txt index 1542596e7..31143951e 100644 --- a/cob_sound/CMakeLists.txt +++ b/cob_sound/CMakeLists.txt @@ -32,6 +32,6 @@ install(TARGETS sound RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -install(PROGRAMS ros/src/test_client.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/ros/src +install(PROGRAMS ros/src/test_client.py fix_swift_for_precise.sh + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) From c3f51c44e0eb2939608003ef7ca1bc812ddc5a0a Mon Sep 17 00:00:00 2001 From: fmessmer Date: Wed, 12 Sep 2018 16:53:28 +0200 Subject: [PATCH 40/52] add laser_scan_densifier --- laser_scan_densifier/CMakeLists.txt | 52 +++++++++ .../laser_scan_densifier.h | 79 +++++++++++++ .../laser_scan_densifier_nodelet.h | 66 +++++++++++ .../laser_scan_densifier_nodelet.xml | 9 ++ laser_scan_densifier/package.xml | 23 ++++ .../src/laser_scan_densifier.cpp | 107 ++++++++++++++++++ .../src/laser_scan_densifier_node.cpp | 55 +++++++++ .../src/laser_scan_densifier_nodelet.cpp | 60 ++++++++++ 8 files changed, 451 insertions(+) create mode 100644 laser_scan_densifier/CMakeLists.txt create mode 100644 laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h create mode 100644 laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h create mode 100644 laser_scan_densifier/laser_scan_densifier_nodelet.xml create mode 100644 laser_scan_densifier/package.xml create mode 100644 laser_scan_densifier/src/laser_scan_densifier.cpp create mode 100644 laser_scan_densifier/src/laser_scan_densifier_node.cpp create mode 100644 laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp diff --git a/laser_scan_densifier/CMakeLists.txt b/laser_scan_densifier/CMakeLists.txt new file mode 100644 index 000000000..7ed51e4c8 --- /dev/null +++ b/laser_scan_densifier/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(laser_scan_densifier) + +# List C++ dependencies on ros packages +set( ROS_CXX_DEPENDENCIES + roscpp + nodelet + sensor_msgs) + +# Find catkin and all required ROS components +find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) + +# Set include directories +include_directories(include ${catkin_INCLUDE_DIRS}) + +# Declare info that other packages need to import library generated here +catkin_package( + INCLUDE_DIRS include + LIBRARIES laser_scan_densifier + CATKIN_DEPENDS ${ROS_CXX_DEPENDENCIES} +) + +#Create library +add_library(laser_scan_densifier src/laser_scan_densifier.cpp) +target_link_libraries( laser_scan_densifier ${catkin_LIBRARIES}) +add_dependencies(laser_scan_densifier ${catkin_EXPORTED_TARGETS}) + +#Create nodelet +add_library(laser_scan_densifier_nodelet src/laser_scan_densifier_nodelet.cpp) +target_link_libraries(laser_scan_densifier_nodelet laser_scan_densifier) + +#Create node +add_executable(laser_scan_densifier_node src/laser_scan_densifier_node.cpp) +target_link_libraries( laser_scan_densifier_node laser_scan_densifier ) + +#Install library +install(TARGETS laser_scan_densifier laser_scan_densifier_nodelet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +#Install library includes +install(DIRECTORY include/laser_scan_densifier/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) + +#Install node +install(TARGETS laser_scan_densifier_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +#Install nodelet description +install(FILES laser_scan_densifier_nodelet.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h new file mode 100644 index 000000000..1766eb4e4 --- /dev/null +++ b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h @@ -0,0 +1,79 @@ +/* + * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/* + * Copyright (c) 2011, Ivan Dryanovski + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the CCNY Robotics Lab nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H +#define LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H + +#include +#include + +namespace scan_tools { + +class LaserScanDensifier +{ + public: + + LaserScanDensifier(ros::NodeHandle nh, ros::NodeHandle nh_private); + virtual ~LaserScanDensifier(); + + private: + + // **** ROS-related + ros::NodeHandle nh_; + ros::NodeHandle nh_private_; + ros::Subscriber scan_subscriber_; + ros::Publisher scan_publisher_; + + // **** paramaters + + int step_; + + // **** member functions + + void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg); +}; + +} //namespace scan_tools + +#endif // LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_H diff --git a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h new file mode 100644 index 000000000..971ce3ca3 --- /dev/null +++ b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h @@ -0,0 +1,66 @@ +/* + * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/* + * Copyright (c) 2011, Ivan Dryanovski + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the CCNY Robotics Lab nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_NODELET_H +#define LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_NODELET_H + +#include +#include + +#include "laser_scan_densifier/laser_scan_densifier.h" + +namespace scan_tools { + +class LaserScanDensifierNodelet : public nodelet::Nodelet +{ + public: + virtual void onInit(); + + private: + LaserScanDensifier * laser_scan_densifier_; // FIXME: change to smart pointer +}; + +} //namespace scan_tools + +#endif // LASER_SCAN_DENSIFIER_LASER_SCAN_DENSIFIER_NODELET_H diff --git a/laser_scan_densifier/laser_scan_densifier_nodelet.xml b/laser_scan_densifier/laser_scan_densifier_nodelet.xml new file mode 100644 index 000000000..bae1f99f9 --- /dev/null +++ b/laser_scan_densifier/laser_scan_densifier_nodelet.xml @@ -0,0 +1,9 @@ + + + + + Laser scan densifier nodelet publisher. + + + diff --git a/laser_scan_densifier/package.xml b/laser_scan_densifier/package.xml new file mode 100644 index 000000000..d5ef98a76 --- /dev/null +++ b/laser_scan_densifier/package.xml @@ -0,0 +1,23 @@ + + laser_scan_densifier + 0.6.12 + + The laser_scan_densifier takes in a LaserScan message and densifies it. + Node is inspired by laser_scan_sparsifier (http://wiki.ros.org/laser_scan_sparsifier). + + Felix Messmer + Felix Messmer + + BSD + + catkin + + roscpp + nodelet + sensor_msgs + + + + + + diff --git a/laser_scan_densifier/src/laser_scan_densifier.cpp b/laser_scan_densifier/src/laser_scan_densifier.cpp new file mode 100644 index 000000000..1bf185676 --- /dev/null +++ b/laser_scan_densifier/src/laser_scan_densifier.cpp @@ -0,0 +1,107 @@ +/* + * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/* + * Copyright (c) 2011, Ivan Dryanovski, William Morris + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the CCNY Robotics Lab nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "laser_scan_densifier/laser_scan_densifier.h" + +namespace scan_tools { + +LaserScanDensifier::LaserScanDensifier(ros::NodeHandle nh, ros::NodeHandle nh_private): + nh_(nh), + nh_private_(nh_private) +{ + ROS_INFO ("Starting LaserScanDensifier"); + + // **** get paramters + + if (!nh_private_.getParam ("step", step_)) + step_ = 2; + + ROS_ASSERT_MSG(step_ > 0, "step parameter is set to %, must be > 0", step_); + + // **** advertise topics + + scan_publisher_ = nh_.advertise("scan_dense", 1); + + // **** subscribe to laser scan messages + + scan_subscriber_ = nh_.subscribe("scan", 1, &LaserScanDensifier::scanCallback, this); +} + +LaserScanDensifier::~LaserScanDensifier () +{ + ROS_INFO ("Destroying LaserScanDensifier"); +} + +void LaserScanDensifier::scanCallback (const sensor_msgs::LaserScanConstPtr& scan_msg) +{ + sensor_msgs::LaserScan::Ptr scan_dense; + scan_dense = boost::make_shared(); + + // copy over equal fields + + scan_dense->header = scan_msg->header; + scan_dense->range_min = scan_msg->range_min; + scan_dense->range_max = scan_msg->range_max; + scan_dense->angle_min = scan_msg->angle_min; + scan_dense->angle_max = scan_msg->angle_max; + scan_dense->angle_increment = scan_msg->angle_increment / step_; + scan_dense->time_increment = scan_msg->time_increment; + scan_dense->scan_time = scan_msg->scan_time; + + scan_dense->ranges.clear(); + scan_dense->intensities.clear(); + + for (unsigned int i = 0; i < scan_msg->ranges.size()-1; i++) + { + scan_dense->ranges.insert(scan_dense->ranges.end(), step_, scan_msg->ranges[i]); + scan_dense->intensities.insert(scan_dense->intensities.end(), step_, scan_msg->intensities[i]); + } + scan_dense->ranges.push_back(scan_msg->ranges.back()); + scan_dense->intensities.push_back(scan_msg->intensities.back()); + + scan_publisher_.publish(scan_dense); +} + +} //namespace scan_tools + diff --git a/laser_scan_densifier/src/laser_scan_densifier_node.cpp b/laser_scan_densifier/src/laser_scan_densifier_node.cpp new file mode 100644 index 000000000..fdff8f99b --- /dev/null +++ b/laser_scan_densifier/src/laser_scan_densifier_node.cpp @@ -0,0 +1,55 @@ +/* + * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/* + * Copyright (c) 2011, Ivan Dryanovski, William Morris + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the CCNY Robotics Lab nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "laser_scan_densifier/laser_scan_densifier.h" + +int main (int argc, char **argv) +{ + ros::init (argc, argv, "LaserScanDensifier"); + ros::NodeHandle nh; + ros::NodeHandle nh_private("~"); + scan_tools::LaserScanDensifier laser_scan_densifier(nh, nh_private); + ros::spin (); + return 0; +} diff --git a/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp b/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp new file mode 100644 index 000000000..d81518935 --- /dev/null +++ b/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp @@ -0,0 +1,60 @@ +/* + * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +/* + * Copyright (c) 2011, Ivan Dryanovski, William Morris + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the CCNY Robotics Lab nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "laser_scan_densifier/laser_scan_densifier_nodelet.h" + +typedef scan_tools::LaserScanDensifierNodelet LaserScanDensifierNodelet; + +PLUGINLIB_EXPORT_CLASS(LaserScanDensifierNodelet, nodelet::Nodelet) + +void LaserScanDensifierNodelet::onInit () +{ + NODELET_INFO("Initializing LaserScanDensifier Nodelet"); + + // TODO: Do we want the single threaded or multithreaded NH? + ros::NodeHandle nh = getMTNodeHandle(); + ros::NodeHandle nh_private = getMTPrivateNodeHandle(); + + laser_scan_densifier_ = new LaserScanDensifier(nh, nh_private); +} From 1074d49915a1fe4b5f8200bf458d8a2ba787551c Mon Sep 17 00:00:00 2001 From: fmessmer Date: Wed, 12 Sep 2018 17:35:16 +0200 Subject: [PATCH 41/52] test interpolated densification --- laser_scan_densifier/src/laser_scan_densifier.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/laser_scan_densifier/src/laser_scan_densifier.cpp b/laser_scan_densifier/src/laser_scan_densifier.cpp index 1bf185676..759ec11ec 100644 --- a/laser_scan_densifier/src/laser_scan_densifier.cpp +++ b/laser_scan_densifier/src/laser_scan_densifier.cpp @@ -95,6 +95,9 @@ void LaserScanDensifier::scanCallback (const sensor_msgs::LaserScanConstPtr& sca for (unsigned int i = 0; i < scan_msg->ranges.size()-1; i++) { scan_dense->ranges.insert(scan_dense->ranges.end(), step_, scan_msg->ranges[i]); + //double delta = (scan_msg->ranges[i+1]-scan_msg->ranges[i])/step_; + //for (unsigned int k = 0; k < step_; k++) + // scan_dense->ranges.insert(scan_dense->ranges.end(), 1, scan_msg->ranges[i]+k*delta); scan_dense->intensities.insert(scan_dense->intensities.end(), step_, scan_msg->intensities[i]); } scan_dense->ranges.push_back(scan_msg->ranges.back()); From 5660e7742bd1d21c10b08b3342390f8d2621ef47 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Thu, 13 Sep 2018 16:33:07 +0200 Subject: [PATCH 42/52] support copy and interpolation mode --- .../laser_scan_densifier.h | 1 + .../laser_scan_densifier_nodelet.h | 2 +- .../src/laser_scan_densifier.cpp | 38 +++++++++++++++---- .../src/laser_scan_densifier_nodelet.cpp | 2 +- 4 files changed, 33 insertions(+), 10 deletions(-) diff --git a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h index 1766eb4e4..d90858c86 100644 --- a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h +++ b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier.h @@ -68,6 +68,7 @@ class LaserScanDensifier // **** paramaters int step_; + int mode_; // **** member functions diff --git a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h index 971ce3ca3..8875d3cf8 100644 --- a/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h +++ b/laser_scan_densifier/include/laser_scan_densifier/laser_scan_densifier_nodelet.h @@ -58,7 +58,7 @@ class LaserScanDensifierNodelet : public nodelet::Nodelet virtual void onInit(); private: - LaserScanDensifier * laser_scan_densifier_; // FIXME: change to smart pointer + boost::shared_ptr< LaserScanDensifier > laser_scan_densifier_; }; } //namespace scan_tools diff --git a/laser_scan_densifier/src/laser_scan_densifier.cpp b/laser_scan_densifier/src/laser_scan_densifier.cpp index 759ec11ec..c27483916 100644 --- a/laser_scan_densifier/src/laser_scan_densifier.cpp +++ b/laser_scan_densifier/src/laser_scan_densifier.cpp @@ -54,11 +54,21 @@ LaserScanDensifier::LaserScanDensifier(ros::NodeHandle nh, ros::NodeHandle nh_pr // **** get paramters - if (!nh_private_.getParam ("step", step_)) - step_ = 2; + nh_private_.param("step", step_, 2); + nh_private_.param("mode", mode_, 0); ROS_ASSERT_MSG(step_ > 0, "step parameter is set to %, must be > 0", step_); + switch(mode_) { + case 0: ROS_INFO("LaserScanDensifier started with mode %d: copy data points", mode_); + break; + case 1: ROS_INFO("LaserScanDensifier started with mode %d: interpolate data points", mode_); + break; + default: ROS_WARN("LaserScanDensifier started with unsupported mode %d. Defaulting to mode 0: copy data points", mode_); + mode_ = 0; + break; + } + // **** advertise topics scan_publisher_ = nh_.advertise("scan_dense", 1); @@ -92,14 +102,26 @@ void LaserScanDensifier::scanCallback (const sensor_msgs::LaserScanConstPtr& sca scan_dense->ranges.clear(); scan_dense->intensities.clear(); - for (unsigned int i = 0; i < scan_msg->ranges.size()-1; i++) + for (size_t i = 0; i < scan_msg->ranges.size()-1; i++) { - scan_dense->ranges.insert(scan_dense->ranges.end(), step_, scan_msg->ranges[i]); - //double delta = (scan_msg->ranges[i+1]-scan_msg->ranges[i])/step_; - //for (unsigned int k = 0; k < step_; k++) - // scan_dense->ranges.insert(scan_dense->ranges.end(), 1, scan_msg->ranges[i]+k*delta); - scan_dense->intensities.insert(scan_dense->intensities.end(), step_, scan_msg->intensities[i]); + switch (mode_) { + case 0: { //copy data points + scan_dense->ranges.insert(scan_dense->ranges.end(), step_, scan_msg->ranges[i]); + scan_dense->intensities.insert(scan_dense->intensities.end(), step_, scan_msg->intensities[i]); + break; + } + case 1: { //interpolate data points + double delta_range = (scan_msg->ranges[i+1]-scan_msg->ranges[i])/step_; + double delta_intensities = (scan_msg->intensities[i+1]-scan_msg->intensities[i])/step_; + for (int k = 0; k < step_; k++) { + scan_dense->ranges.insert(scan_dense->ranges.end(), 1, scan_msg->ranges[i]+k*delta_range); + scan_dense->intensities.insert(scan_dense->intensities.end(), 1, scan_msg->intensities[i]+k*delta_intensities); + } + break; + } + } } + // add angle_max data point scan_dense->ranges.push_back(scan_msg->ranges.back()); scan_dense->intensities.push_back(scan_msg->intensities.back()); diff --git a/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp b/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp index d81518935..df56f51fa 100644 --- a/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp +++ b/laser_scan_densifier/src/laser_scan_densifier_nodelet.cpp @@ -56,5 +56,5 @@ void LaserScanDensifierNodelet::onInit () ros::NodeHandle nh = getMTNodeHandle(); ros::NodeHandle nh_private = getMTPrivateNodeHandle(); - laser_scan_densifier_ = new LaserScanDensifier(nh, nh_private); + laser_scan_densifier_ = boost::shared_ptr< LaserScanDensifier >(new LaserScanDensifier(nh, nh_private)); } From 4e20f287c7299565985575c5d252d11a8a8ec51c Mon Sep 17 00:00:00 2001 From: fmessmer Date: Wed, 21 Nov 2018 17:43:19 +0100 Subject: [PATCH 43/52] initialize ranges with max_range rather than zero --- cob_scan_unifier/src/scan_unifier_node.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index a46dc46f9..f1dcb54e5 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -235,8 +235,8 @@ bool ScanUnifierNode::unifyLaserScans(std::vectorscan_time; unified_scan.range_min = current_scans.at(0)->range_min; unified_scan.range_max = current_scans.at(0)->range_max; - unified_scan.ranges.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1); - unified_scan.intensities.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1); + unified_scan.ranges.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1, unified_scan.range_max); + unified_scan.intensities.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1, 0.0); // now unify all Scans ROS_DEBUG("unify scans"); @@ -264,7 +264,7 @@ bool ScanUnifierNode::unifyLaserScans(std::vector Date: Thu, 22 Nov 2018 08:59:11 +0100 Subject: [PATCH 44/52] add explanatory comment --- cob_scan_unifier/src/scan_unifier_node.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index f1dcb54e5..543962f6a 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -235,6 +235,9 @@ bool ScanUnifierNode::unifyLaserScans(std::vectorscan_time; unified_scan.range_min = current_scans.at(0)->range_min; unified_scan.range_max = current_scans.at(0)->range_max; + //default values (ranges: range_max, intensities: 0) are used to better reflect the driver behavior + //there "phantom" data has values > range_max + //but those values are removed during projection to pointcloud unified_scan.ranges.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1, unified_scan.range_max); unified_scan.intensities.resize(round((unified_scan.angle_max - unified_scan.angle_min) / unified_scan.angle_increment) + 1, 0.0); From 950392a7f86a92d161e41f03b4243a2d618cd0f7 Mon Sep 17 00:00:00 2001 From: Benjamin Maidel Date: Tue, 27 Nov 2018 14:16:52 +0100 Subject: [PATCH 45/52] on srv callback check if digital sensor is already at desired state --- cob_phidgets/ros/src/phidgetik_ros.cpp | 54 +++++++++++++++----------- 1 file changed, 32 insertions(+), 22 deletions(-) diff --git a/cob_phidgets/ros/src/phidgetik_ros.cpp b/cob_phidgets/ros/src/phidgetik_ros.cpp index 47300f1a7..42b6b2021 100644 --- a/cob_phidgets/ros/src/phidgetik_ros.cpp +++ b/cob_phidgets/ros/src/phidgetik_ros.cpp @@ -297,28 +297,38 @@ auto PhidgetIKROS::setDigitalOutCallback(cob_phidgets::SetDigitalSensor::Request _indexNameMapRevItr = _indexNameMapDigitalOutRev.find(req.uri); if(_indexNameMapRevItr != _indexNameMapDigitalOutRev.end()) { - ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state); - this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state); - - ros::Time start = ros::Time::now(); - while((ros::Time::now().toSec() - start.toSec()) < 1.0) - { - _mutex.lock(); - if(_outputChanged.updated == true) - { - _mutex.unlock(); - break; - } - _mutex.unlock(); - - ros::Duration(0.025).sleep(); - } - _mutex.lock(); - res.uri = _indexNameMapDigitalOut[_outputChanged.index]; - res.state = _outputChanged.state; - ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state); - ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri])); - _mutex.unlock(); + if(this->getOutputState(_indexNameMapDigitalOutRev[req.uri]) == req.state) + { + ROS_INFO("Digital output %i is already at state %i", _indexNameMapDigitalOutRev[req.uri], req.state); + res.uri = req.uri; + res.state = req.state; + ret = true; + } + else + { + ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state); + this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state); + + ros::Time start = ros::Time::now(); + while((ros::Time::now().toSec() - start.toSec()) < 1.0) + { + _mutex.lock(); + if(_outputChanged.updated == true) + { + _mutex.unlock(); + break; + } + _mutex.unlock(); + + ros::Duration(0.025).sleep(); + } + _mutex.lock(); + res.uri = _indexNameMapDigitalOut[_outputChanged.index]; + res.state = _outputChanged.state; + ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state); + ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri])); + _mutex.unlock(); + } } else { From 0b961c06b562728ed2dede5fe8cdcd936ca4d410 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Thu, 29 Nov 2018 09:19:13 +0100 Subject: [PATCH 46/52] fix indentation --- cob_phidgets/ros/src/phidgetik_ros.cpp | 74 +++++++++++++------------- 1 file changed, 37 insertions(+), 37 deletions(-) diff --git a/cob_phidgets/ros/src/phidgetik_ros.cpp b/cob_phidgets/ros/src/phidgetik_ros.cpp index 42b6b2021..b81e701e0 100644 --- a/cob_phidgets/ros/src/phidgetik_ros.cpp +++ b/cob_phidgets/ros/src/phidgetik_ros.cpp @@ -297,38 +297,38 @@ auto PhidgetIKROS::setDigitalOutCallback(cob_phidgets::SetDigitalSensor::Request _indexNameMapRevItr = _indexNameMapDigitalOutRev.find(req.uri); if(_indexNameMapRevItr != _indexNameMapDigitalOutRev.end()) { - if(this->getOutputState(_indexNameMapDigitalOutRev[req.uri]) == req.state) - { - ROS_INFO("Digital output %i is already at state %i", _indexNameMapDigitalOutRev[req.uri], req.state); - res.uri = req.uri; - res.state = req.state; - ret = true; - } - else - { - ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state); - this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state); - - ros::Time start = ros::Time::now(); - while((ros::Time::now().toSec() - start.toSec()) < 1.0) - { - _mutex.lock(); - if(_outputChanged.updated == true) - { - _mutex.unlock(); - break; - } - _mutex.unlock(); - - ros::Duration(0.025).sleep(); - } - _mutex.lock(); - res.uri = _indexNameMapDigitalOut[_outputChanged.index]; - res.state = _outputChanged.state; - ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state); - ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri])); - _mutex.unlock(); - } + if(this->getOutputState(_indexNameMapDigitalOutRev[req.uri]) == req.state) + { + ROS_INFO("Digital output %i is already at state %i", _indexNameMapDigitalOutRev[req.uri], req.state); + res.uri = req.uri; + res.state = req.state; + ret = true; + } + else + { + ROS_INFO("Setting digital output %i to state %i", _indexNameMapDigitalOutRev[req.uri], req.state); + this->setOutputState(_indexNameMapDigitalOutRev[req.uri], req.state); + + ros::Time start = ros::Time::now(); + while((ros::Time::now().toSec() - start.toSec()) < 1.0) + { + _mutex.lock(); + if(_outputChanged.updated == true) + { + _mutex.unlock(); + break; + } + _mutex.unlock(); + + ros::Duration(0.025).sleep(); + } + _mutex.lock(); + res.uri = _indexNameMapDigitalOut[_outputChanged.index]; + res.state = _outputChanged.state; + ROS_DEBUG("Sending response: updated: %u, index: %d, state: %d",_outputChanged.updated, _outputChanged.index, _outputChanged.state); + ret = (_outputChanged.updated && (_outputChanged.index == _indexNameMapDigitalOutRev[req.uri])); + _mutex.unlock(); + } } else { @@ -416,10 +416,10 @@ auto PhidgetIKROS::attachHandler() -> int auto PhidgetIKROS::detachHandler() -> int { int serial_number; - const char *device_name; + const char *device_name; - CPhidget_getDeviceName ((CPhidgetHandle)_iKitHandle, &device_name); - CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serial_number); - ROS_INFO("%s Serial number %d detached!", device_name, serial_number); - return 0; + CPhidget_getDeviceName ((CPhidgetHandle)_iKitHandle, &device_name); + CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serial_number); + ROS_INFO("%s Serial number %d detached!", device_name, serial_number); + return 0; } From c078861411b141af49260db3399e194d245d56cf Mon Sep 17 00:00:00 2001 From: andreeatulbure Date: Mon, 11 Mar 2019 17:47:33 +0100 Subject: [PATCH 47/52] removed clang --- cob_light/CMakeLists.txt | 3 --- cob_mimic/CMakeLists.txt | 3 --- 2 files changed, 6 deletions(-) diff --git a/cob_light/CMakeLists.txt b/cob_light/CMakeLists.txt index 3ddc032f1..46c328fdb 100644 --- a/cob_light/CMakeLists.txt +++ b/cob_light/CMakeLists.txt @@ -5,9 +5,6 @@ find_package(catkin REQUIRED COMPONENTS actionlib_msgs actionlib diagnostic_msgs find_package(Boost REQUIRED COMPONENTS signals thread) -set(CMAKE_CXX_COMPILER "clang++") -set(CMAKE_C_COMPILER "clang") - ### Message Generation ### add_message_files( FILES diff --git a/cob_mimic/CMakeLists.txt b/cob_mimic/CMakeLists.txt index 1c63a5c97..4ef70b9ca 100644 --- a/cob_mimic/CMakeLists.txt +++ b/cob_mimic/CMakeLists.txt @@ -6,9 +6,6 @@ find_package(PkgConfig REQUIRED) find_package(Boost REQUIRED COMPONENTS filesystem thread) pkg_check_modules(libvlc REQUIRED libvlc) -set(CMAKE_CXX_COMPILER "clang++") -set(CMAKE_C_COMPILER "clang") - ### Message Generation ### add_service_files(DIRECTORY srv FILES SetMimic.srv From 69c0512bdf4903faa0087e0320956bcf556191d2 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Thu, 14 Mar 2019 13:25:15 +0100 Subject: [PATCH 48/52] rosinstall consistency --- .travis.rosinstall.kinetic | 1 - 1 file changed, 1 deletion(-) delete mode 100644 .travis.rosinstall.kinetic diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic deleted file mode 100644 index 1bb8bf6d7..000000000 --- a/.travis.rosinstall.kinetic +++ /dev/null @@ -1 +0,0 @@ -# empty From 39df85f3522f23b05f4df3d9a3a1ce6e930887f8 Mon Sep 17 00:00:00 2001 From: fmessmer Date: Thu, 14 Mar 2019 13:26:09 +0100 Subject: [PATCH 49/52] update changelogs --- cob_base_drive_chain/CHANGELOG.rst | 3 +++ cob_bms_driver/CHANGELOG.rst | 7 +++++++ cob_camera_sensors/CHANGELOG.rst | 3 +++ cob_canopen_motor/CHANGELOG.rst | 3 +++ cob_driver/CHANGELOG.rst | 3 +++ cob_elmo_homing/CHANGELOG.rst | 3 +++ cob_generic_can/CHANGELOG.rst | 3 +++ cob_light/CHANGELOG.rst | 3 +++ cob_mimic/CHANGELOG.rst | 3 +++ cob_phidget_em_state/CHANGELOG.rst | 3 +++ cob_phidget_power_state/CHANGELOG.rst | 3 +++ cob_phidgets/CHANGELOG.rst | 8 ++++++++ cob_relayboard/CHANGELOG.rst | 3 +++ cob_scan_unifier/CHANGELOG.rst | 8 ++++++++ cob_sick_lms1xx/CHANGELOG.rst | 3 +++ cob_sick_s300/CHANGELOG.rst | 7 +++++++ cob_sound/CHANGELOG.rst | 7 +++++++ cob_undercarriage_ctrl/CHANGELOG.rst | 3 +++ cob_utilities/CHANGELOG.rst | 3 +++ cob_voltage_control/CHANGELOG.rst | 3 +++ laser_scan_densifier/CHANGELOG.rst | 12 ++++++++++++ 21 files changed, 94 insertions(+) create mode 100644 laser_scan_densifier/CHANGELOG.rst diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index 0ad5597da..e149292e9 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 1dfdee35f..5a4bdb9cf 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#381 `_ from pholthau/boost-format + include boost/format.hpp +* include boost/format.hpp +* Contributors: Felix Messmer, Patrick Holthaus + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 83af3f412..2a6954fe2 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 83ed2ee17..664d4fb2a 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index 6c8dc8a60..bc959e05c 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index a49b4dce4..f3d7a196f 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index 77d5d17eb..d27e11ea6 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index fbb5bcb96..7c1453f08 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index 38f6d69e0..d76cd8821 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 4d14e70c0..0544b40fa 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index 666cbb6e5..a68767b37 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index 5933ee253..cd11b198c 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#386 `_ from benmaidel/fix/check_sensor_value + [cob_phidgets] srv callback check if digital sensor is already at desired state +* fix indentation +* on srv callback check if digital sensor is already at desired state +* Contributors: Benjamin Maidel, Felix Messmer, fmessmer + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index 6ed6b8dd2..e08958ddb 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index a781ee827..de5fa4fd2 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#385 `_ from fmessmer/scan_unifier_range_initialization + initialize ranges with max_range rather than zero +* add explanatory comment +* initialize ranges with max_range rather than zero +* Contributors: Felix Messmer, fmessmer + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index c8cd00355..9248e2f49 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index f04803243..c87da3317 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#378 `_ from mateuszcierpikowski/feature/auto_reconnect + add auto reconnect when scanner is disconnected +* add auto reconnect when scanner is disconnected +* Contributors: Felix Messmer, mateuszcierpikowski + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index b57e47481..c386be4c6 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Merge pull request `#382 `_ from fmessmer/install_fix_swift + fix install tags +* fix install tags +* Contributors: Felix Messmer, fmessmer + 0.6.12 (2018-07-21) ------------------- * update maintainer diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 84c0b059b..0057af706 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index 7147f6adb..e359f854d 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index 5887df8ca..f3e4410ee 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.6.12 (2018-07-21) ------------------- diff --git a/laser_scan_densifier/CHANGELOG.rst b/laser_scan_densifier/CHANGELOG.rst new file mode 100644 index 000000000..3b9450525 --- /dev/null +++ b/laser_scan_densifier/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package laser_scan_densifier +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- +* Merge pull request `#383 `_ from fmessmer/laser_densifier + add laser scan densifier +* support copy and interpolation mode +* test interpolated densification +* add laser_scan_densifier +* Contributors: Felix Messmer, fmessmer From d44475d26ae47516e23e3b0e92c9511a32d0953a Mon Sep 17 00:00:00 2001 From: fmessmer Date: Thu, 14 Mar 2019 13:26:27 +0100 Subject: [PATCH 50/52] 0.6.13 --- cob_base_drive_chain/CHANGELOG.rst | 4 ++-- cob_base_drive_chain/package.xml | 2 +- cob_bms_driver/CHANGELOG.rst | 4 ++-- cob_bms_driver/package.xml | 2 +- cob_camera_sensors/CHANGELOG.rst | 4 ++-- cob_camera_sensors/package.xml | 2 +- cob_canopen_motor/CHANGELOG.rst | 4 ++-- cob_canopen_motor/package.xml | 2 +- cob_driver/CHANGELOG.rst | 4 ++-- cob_driver/package.xml | 2 +- cob_elmo_homing/CHANGELOG.rst | 4 ++-- cob_elmo_homing/package.xml | 2 +- cob_generic_can/CHANGELOG.rst | 4 ++-- cob_generic_can/package.xml | 2 +- cob_light/CHANGELOG.rst | 4 ++-- cob_light/package.xml | 2 +- cob_mimic/CHANGELOG.rst | 4 ++-- cob_mimic/package.xml | 2 +- cob_phidget_em_state/CHANGELOG.rst | 4 ++-- cob_phidget_em_state/package.xml | 2 +- cob_phidget_power_state/CHANGELOG.rst | 4 ++-- cob_phidget_power_state/package.xml | 2 +- cob_phidgets/CHANGELOG.rst | 4 ++-- cob_phidgets/package.xml | 2 +- cob_relayboard/CHANGELOG.rst | 4 ++-- cob_relayboard/package.xml | 2 +- cob_scan_unifier/CHANGELOG.rst | 4 ++-- cob_scan_unifier/package.xml | 2 +- cob_sick_lms1xx/CHANGELOG.rst | 4 ++-- cob_sick_lms1xx/package.xml | 2 +- cob_sick_s300/CHANGELOG.rst | 4 ++-- cob_sick_s300/package.xml | 2 +- cob_sound/CHANGELOG.rst | 4 ++-- cob_sound/package.xml | 2 +- cob_undercarriage_ctrl/CHANGELOG.rst | 4 ++-- cob_undercarriage_ctrl/package.xml | 2 +- cob_utilities/CHANGELOG.rst | 4 ++-- cob_utilities/package.xml | 2 +- cob_voltage_control/CHANGELOG.rst | 4 ++-- cob_voltage_control/package.xml | 2 +- laser_scan_densifier/CHANGELOG.rst | 4 ++-- laser_scan_densifier/package.xml | 2 +- 42 files changed, 63 insertions(+), 63 deletions(-) diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst index e149292e9..55dc38024 100644 --- a/cob_base_drive_chain/CHANGELOG.rst +++ b/cob_base_drive_chain/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_base_drive_chain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml index af030319f..e07352996 100644 --- a/cob_base_drive_chain/package.xml +++ b/cob_base_drive_chain/package.xml @@ -1,6 +1,6 @@ cob_base_drive_chain - 0.6.12 + 0.6.13 This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information. Apache 2.0 diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst index 5a4bdb9cf..96fa55232 100644 --- a/cob_bms_driver/CHANGELOG.rst +++ b/cob_bms_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_bms_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#381 `_ from pholthau/boost-format include boost/format.hpp * include boost/format.hpp diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml index 7f25cbd8e..719958682 100644 --- a/cob_bms_driver/package.xml +++ b/cob_bms_driver/package.xml @@ -1,7 +1,7 @@ cob_bms_driver - 0.6.12 + 0.6.13 Driver package for interfacing the battery management system (BMS) on Care-O-bot. diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst index 2a6954fe2..6884888cf 100644 --- a/cob_camera_sensors/CHANGELOG.rst +++ b/cob_camera_sensors/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_camera_sensors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml index ae6cc81e2..dc68f324c 100644 --- a/cob_camera_sensors/package.xml +++ b/cob_camera_sensors/package.xml @@ -1,6 +1,6 @@ cob_camera_sensors - 0.6.12 + 0.6.13 For more information read the readme.htm file located in Apache 2.0 diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst index 664d4fb2a..0e9ce427d 100644 --- a/cob_canopen_motor/CHANGELOG.rst +++ b/cob_canopen_motor/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_canopen_motor ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml index 790dfd19d..ea27915f3 100644 --- a/cob_canopen_motor/package.xml +++ b/cob_canopen_motor/package.xml @@ -1,6 +1,6 @@ cob_canopen_motor - 0.6.12 + 0.6.13 The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica". Apache 2.0 diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst index bc959e05c..641eef737 100644 --- a/cob_driver/CHANGELOG.rst +++ b/cob_driver/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_driver ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_driver/package.xml b/cob_driver/package.xml index 5ab367928..836b36323 100644 --- a/cob_driver/package.xml +++ b/cob_driver/package.xml @@ -1,6 +1,6 @@ cob_driver - 0.6.12 + 0.6.13 The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc... Apache 2.0 diff --git a/cob_elmo_homing/CHANGELOG.rst b/cob_elmo_homing/CHANGELOG.rst index f3d7a196f..0ac20b822 100644 --- a/cob_elmo_homing/CHANGELOG.rst +++ b/cob_elmo_homing/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_elmo_homing ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_elmo_homing/package.xml b/cob_elmo_homing/package.xml index dff648a9d..b417937c6 100644 --- a/cob_elmo_homing/package.xml +++ b/cob_elmo_homing/package.xml @@ -1,7 +1,7 @@ cob_elmo_homing - 0.6.12 + 0.6.13 This packagae implements the special homing procedure that is needed for old cob4/raw bases Florian Weisshardt diff --git a/cob_generic_can/CHANGELOG.rst b/cob_generic_can/CHANGELOG.rst index d27e11ea6..82da8aacf 100644 --- a/cob_generic_can/CHANGELOG.rst +++ b/cob_generic_can/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_generic_can ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_generic_can/package.xml b/cob_generic_can/package.xml index 45842c81c..fa8a58c52 100644 --- a/cob_generic_can/package.xml +++ b/cob_generic_can/package.xml @@ -1,6 +1,6 @@ cob_generic_can - 0.6.12 + 0.6.13 The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters. Apache 2.0 diff --git a/cob_light/CHANGELOG.rst b/cob_light/CHANGELOG.rst index 7c1453f08..a9d3c369e 100644 --- a/cob_light/CHANGELOG.rst +++ b/cob_light/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_light ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_light/package.xml b/cob_light/package.xml index 4c72c9a25..0a47056f3 100644 --- a/cob_light/package.xml +++ b/cob_light/package.xml @@ -1,6 +1,6 @@ cob_light - 0.6.12 + 0.6.13 This package contains scripts to operate the LED lights on Care-O-bot. Apache 2.0 diff --git a/cob_mimic/CHANGELOG.rst b/cob_mimic/CHANGELOG.rst index d76cd8821..0ff95d932 100644 --- a/cob_mimic/CHANGELOG.rst +++ b/cob_mimic/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_mimic ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_mimic/package.xml b/cob_mimic/package.xml index a37435de9..2ce6cea3d 100644 --- a/cob_mimic/package.xml +++ b/cob_mimic/package.xml @@ -1,6 +1,6 @@ cob_mimic - 0.6.12 + 0.6.13 This package implements the Care-O-bot mimic Apache 2.0 diff --git a/cob_phidget_em_state/CHANGELOG.rst b/cob_phidget_em_state/CHANGELOG.rst index 0544b40fa..08a101d35 100644 --- a/cob_phidget_em_state/CHANGELOG.rst +++ b/cob_phidget_em_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_em_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_phidget_em_state/package.xml b/cob_phidget_em_state/package.xml index 7c6bc7d9a..e6689cd93 100644 --- a/cob_phidget_em_state/package.xml +++ b/cob_phidget_em_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_em_state - 0.6.12 + 0.6.13 The cob_phidget_em_state package Benjamin Maidel diff --git a/cob_phidget_power_state/CHANGELOG.rst b/cob_phidget_power_state/CHANGELOG.rst index a68767b37..3c8cb6737 100644 --- a/cob_phidget_power_state/CHANGELOG.rst +++ b/cob_phidget_power_state/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidget_power_state ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_phidget_power_state/package.xml b/cob_phidget_power_state/package.xml index 2ca77a3cc..d66a3ffa2 100644 --- a/cob_phidget_power_state/package.xml +++ b/cob_phidget_power_state/package.xml @@ -1,7 +1,7 @@ cob_phidget_power_state - 0.6.12 + 0.6.13 The cob_phidget_power_state package Benjamin Maidel diff --git a/cob_phidgets/CHANGELOG.rst b/cob_phidgets/CHANGELOG.rst index cd11b198c..da41e70c8 100644 --- a/cob_phidgets/CHANGELOG.rst +++ b/cob_phidgets/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_phidgets ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#386 `_ from benmaidel/fix/check_sensor_value [cob_phidgets] srv callback check if digital sensor is already at desired state * fix indentation diff --git a/cob_phidgets/package.xml b/cob_phidgets/package.xml index 2dddcee82..f7fe56f9b 100644 --- a/cob_phidgets/package.xml +++ b/cob_phidgets/package.xml @@ -1,6 +1,6 @@ cob_phidgets - 0.6.12 + 0.6.13 cob_phidgets Apache 2.0 diff --git a/cob_relayboard/CHANGELOG.rst b/cob_relayboard/CHANGELOG.rst index e08958ddb..a36ae47cb 100644 --- a/cob_relayboard/CHANGELOG.rst +++ b/cob_relayboard/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_relayboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_relayboard/package.xml b/cob_relayboard/package.xml index 3c5bc31ab..34d1d61a8 100644 --- a/cob_relayboard/package.xml +++ b/cob_relayboard/package.xml @@ -1,6 +1,6 @@ cob_relayboard - 0.6.12 + 0.6.13 cob_relayboard Apache 2.0 diff --git a/cob_scan_unifier/CHANGELOG.rst b/cob_scan_unifier/CHANGELOG.rst index de5fa4fd2..996f4381f 100644 --- a/cob_scan_unifier/CHANGELOG.rst +++ b/cob_scan_unifier/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_scan_unifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#385 `_ from fmessmer/scan_unifier_range_initialization initialize ranges with max_range rather than zero * add explanatory comment diff --git a/cob_scan_unifier/package.xml b/cob_scan_unifier/package.xml index 220f4ed2c..b12379965 100644 --- a/cob_scan_unifier/package.xml +++ b/cob_scan_unifier/package.xml @@ -1,7 +1,7 @@ cob_scan_unifier - 0.6.12 + 0.6.13 The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message Felix Messmer diff --git a/cob_sick_lms1xx/CHANGELOG.rst b/cob_sick_lms1xx/CHANGELOG.rst index 9248e2f49..fee58d10a 100644 --- a/cob_sick_lms1xx/CHANGELOG.rst +++ b/cob_sick_lms1xx/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_lms1xx ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_sick_lms1xx/package.xml b/cob_sick_lms1xx/package.xml index 040d438fc..67b045c37 100644 --- a/cob_sick_lms1xx/package.xml +++ b/cob_sick_lms1xx/package.xml @@ -1,6 +1,6 @@ cob_sick_lms1xx - 0.6.12 + 0.6.13 This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install. diff --git a/cob_sick_s300/CHANGELOG.rst b/cob_sick_s300/CHANGELOG.rst index c87da3317..243020fe0 100644 --- a/cob_sick_s300/CHANGELOG.rst +++ b/cob_sick_s300/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sick_s300 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#378 `_ from mateuszcierpikowski/feature/auto_reconnect add auto reconnect when scanner is disconnected * add auto reconnect when scanner is disconnected diff --git a/cob_sick_s300/package.xml b/cob_sick_s300/package.xml index f30758028..efbbeb399 100644 --- a/cob_sick_s300/package.xml +++ b/cob_sick_s300/package.xml @@ -1,6 +1,6 @@ cob_sick_s300 - 0.6.12 + 0.6.13 This package published a laser scan message out of a Sick S300 laser scanner. Apache 2.0 diff --git a/cob_sound/CHANGELOG.rst b/cob_sound/CHANGELOG.rst index c386be4c6..b38429d30 100644 --- a/cob_sound/CHANGELOG.rst +++ b/cob_sound/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_sound ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#382 `_ from fmessmer/install_fix_swift fix install tags * fix install tags diff --git a/cob_sound/package.xml b/cob_sound/package.xml index 31c82c843..a9847b614 100644 --- a/cob_sound/package.xml +++ b/cob_sound/package.xml @@ -1,6 +1,6 @@ cob_sound - 0.6.12 + 0.6.13 This package implements a sound play module using text2wave and aplay through python. Apache 2.0 diff --git a/cob_undercarriage_ctrl/CHANGELOG.rst b/cob_undercarriage_ctrl/CHANGELOG.rst index 0057af706..d2377702e 100644 --- a/cob_undercarriage_ctrl/CHANGELOG.rst +++ b/cob_undercarriage_ctrl/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_undercarriage_ctrl ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_undercarriage_ctrl/package.xml b/cob_undercarriage_ctrl/package.xml index 1e82c9318..bed12e11c 100644 --- a/cob_undercarriage_ctrl/package.xml +++ b/cob_undercarriage_ctrl/package.xml @@ -1,6 +1,6 @@ cob_undercarriage_ctrl - 0.6.12 + 0.6.13 cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity Apache 2.0 diff --git a/cob_utilities/CHANGELOG.rst b/cob_utilities/CHANGELOG.rst index e359f854d..158eb7006 100644 --- a/cob_utilities/CHANGELOG.rst +++ b/cob_utilities/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_utilities/package.xml b/cob_utilities/package.xml index c3fdec08f..9f3c44979 100644 --- a/cob_utilities/package.xml +++ b/cob_utilities/package.xml @@ -1,6 +1,6 @@ cob_utilities - 0.6.12 + 0.6.13 Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code! diff --git a/cob_voltage_control/CHANGELOG.rst b/cob_voltage_control/CHANGELOG.rst index f3e4410ee..495c3cfa9 100644 --- a/cob_voltage_control/CHANGELOG.rst +++ b/cob_voltage_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package cob_voltage_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- 0.6.12 (2018-07-21) ------------------- diff --git a/cob_voltage_control/package.xml b/cob_voltage_control/package.xml index de3854bba..5d4d05afa 100644 --- a/cob_voltage_control/package.xml +++ b/cob_voltage_control/package.xml @@ -1,6 +1,6 @@ cob_voltage_control - 0.6.12 + 0.6.13 Interface to IO board that manages emergency stop and battery voltage on rob@work 3 Apache 2.0 diff --git a/laser_scan_densifier/CHANGELOG.rst b/laser_scan_densifier/CHANGELOG.rst index 3b9450525..cd82a3196 100644 --- a/laser_scan_densifier/CHANGELOG.rst +++ b/laser_scan_densifier/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package laser_scan_densifier ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.6.13 (2019-03-14) +------------------- * Merge pull request `#383 `_ from fmessmer/laser_densifier add laser scan densifier * support copy and interpolation mode diff --git a/laser_scan_densifier/package.xml b/laser_scan_densifier/package.xml index d5ef98a76..ad19d6c2b 100644 --- a/laser_scan_densifier/package.xml +++ b/laser_scan_densifier/package.xml @@ -1,6 +1,6 @@ laser_scan_densifier - 0.6.12 + 0.6.13 The laser_scan_densifier takes in a LaserScan message and densifies it. Node is inspired by laser_scan_sparsifier (http://wiki.ros.org/laser_scan_sparsifier). From e84269ce45f1bd3a3773a1e4137fdc10d99a4bd4 Mon Sep 17 00:00:00 2001 From: andreeatulbure Date: Tue, 26 Mar 2019 16:40:43 +0100 Subject: [PATCH 51/52] Initalise TF2 before using it. Otherwise runtime error in current kinetic --- cob_scan_unifier/src/scan_unifier_node.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index 395d2d3fa..4b39110c7 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -26,6 +26,10 @@ ScanUnifierNode::ScanUnifierNode() nh_ = ros::NodeHandle(); pnh_ = ros::NodeHandle("~"); + // Init TF-Buffer + p_tfBuffer = new tf2_ros::Buffer(); + p_tfListener = new tf2_ros::TransformListener(*p_tfBuffer, true); + // Publisher topicPub_LaserUnified_ = nh_.advertise("scan_unified", 1); From 4ab7d47bec14fe8454b0350242e001112b5803af Mon Sep 17 00:00:00 2001 From: andreeatulbure Date: Tue, 26 Mar 2019 16:40:43 +0100 Subject: [PATCH 52/52] Initalise TF2 before using it. Otherwise runtime error in current kinetic --- cob_scan_unifier/src/scan_unifier_node.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/cob_scan_unifier/src/scan_unifier_node.cpp b/cob_scan_unifier/src/scan_unifier_node.cpp index 543962f6a..6bff91c37 100644 --- a/cob_scan_unifier/src/scan_unifier_node.cpp +++ b/cob_scan_unifier/src/scan_unifier_node.cpp @@ -26,6 +26,10 @@ ScanUnifierNode::ScanUnifierNode() nh_ = ros::NodeHandle(); pnh_ = ros::NodeHandle("~"); + // Init TF-Buffer + p_tfBuffer = new tf2_ros::Buffer(); + p_tfListener = new tf2_ros::TransformListener(*p_tfBuffer, true); + // Publisher topicPub_LaserUnified_ = nh_.advertise("scan_unified", 1);