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CHANGELOG.rst

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1.2.0 (2015-12-21)

  • Electric grippers are now represented in meshes and xacro, onboard the robot and in Gazebo!
  • baxter.urdf is now deprecated. Use baxter.urdf.xacro instead: rosrun xacro xacro.py --inorder rospack find baxter_description/urdf/baxter.urdf.xacro
  • The core of baxter.urdf now lives in baxter_base/baxter_base.urdf.xacro (which gets invoked by baxter.urdf.xacro)
  • Gazebo tags were removed from baxter_base.urdf.xacro and can now be optionally included at the top level baxter.urdf.xacro with an arg: gazebo:=true
  • Baxter's pedestal is now an optional element, which can be left off the URDF with xacro arg: pedestal:=false
  • Added the rethink_ee_description package, where all the Xacro and Mesh files for suction and electric grippers will live
  • Electric Grippers can be configured in any configuration possible in the physical Electric Grippers Kit (by editing baxter_description/urdf/<side>_end_effector.xacro)
  • Added URDFConfiguration.msg for adding URDF Fragments to Baxter dynamically
  • The previous two points mean that you can dynamically edit your Electric Gripper configuration send it to your real Baxter!
  • In EndEffectorProperties.msg the CUSTOM_GRIPPER is renamed to PASSIVE_GRIPPER
  • In HeadPanCommand.msg, the speed_ratio is now between [0, 1.0], where it was [0, 100] before
  • In HeadState.msg, isTurning is now isPanning
  • NavigatorStates.msg now contains the lights_names, and navigator topics have been renamed to remove the ITB acronym
  • Thanks to Kei Okada (@k-okada), for kicking off this update with a Gripper-Xacro pull request

1.1.1 (2015-4-15)

  • Patch release for other baxter packages (no baxter_common changes)

1.1.0 (2015-1-2)

  • Updates baxter_core_msgs SEAJointState.msg to accommodate Feed Forward acceleration command
  • Updates baxter_description baxter.urdf to use "hardwareInterface" tag for Gazebo
  • Updates baxter_description baxter.urdf to use "gravity 0" tag on links

1.0.1 (2014-9-10)

  • Adds meshes and URDF to baxter_description installation

1.0.0 (2014-5-1)

  • Updates baxter_core_msgs IK solver service file adding seeding options
  • Updates baxter_core_msgs JointCommand message adding raw joint position control mode option
  • Adds URDF accelerometer and display links/joints
  • Adds cameras, head display, hand IR range sensor, and sonar Gazebo plugins to URDF
  • Adds second generation pnuematic gripper meshes
  • Adds electric and suction gripper assembly meshes
  • Renames gripper meshes intelligibly
  • Removes deprecated core list and removal service

0.7.0 (2013-11-21)

  • Removal of baxter_msgs in favor of baxter_core_msgs (Baxter communication) and baxter_maintenance_msgs (maintenance routines). This allowed for the removal of the implemented proxy for direct robot communication decreasing latency significantly.
  • Gazebo and ros_control URDF tags added.
  • Adds low poly meshes for pedestal and torso collision descriptions for MoveIt!
  • Adds electric and suction gripper meshes
  • Adds <left/right>_gripper_base link/joint - necessary for object/gripper mass customization.
  • Updates URDF effector fields to reflect robot maximums.
  • Fixes head origin bug. Head now rotates correctly when visualized.