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Releases / Tags (HRR-Cobot Meta Package)

Open Todos / Issues:

  • add collision avoidance including end-effector models
  • add example & docu for cutting
  • add example & docu for grinding
  • add example & docu for default grasping tests
  • add example & docu for vacuum pick / disposal
  • add example & docu for tool-change routine

v0.4

@gabler tschö mit üss

  • added code docu for unscrewing and grasping
  • removed hrr_cobot_robot->manipulation_graphs
  • add example for unscrewing
  • add example for sensitive grasping controller

affected packages: - hrr_cobot (v0.4) - hrr_cobot_robot (v.0.4)

v0.3.1

Adjusted calibration routine

  • added plotting function to check more easily
  • removed Calibration service
  • adjusted action-message
  • moved to HrrCobotControl handle

affected packages: - hrr_msgs (v0.3.1) - hrr_cobot_robot (v.0.3.1) - hrr_controllers (v0.3.1)

v0.3

removed hrr_tools

hrr_controllers

  • added digital IO state controller
  • added digital Pin controller
  • added digital encoder controller
  • moved ros_interfaces from hrr_cobot_robot to this package, i.e. added python controller-handles as dedicated package

hrr_cobot_robot`

  • removed wsg_50_hw_local as source is now to be become publically available
  • moved ros_interfaces to hrr_cobot_robot
  • added / refined tool-control interfaces

hrr_cobot

  • slimmed docu
  • added pages support (testing)

hrr_msgs

  • moved actions to hr_recycler_msgs
  • added new content needed for digital controllers

also see hrr_cobot_robot -> controller.yaml on how to use these controllers for Tool-controllers

v0.2

(almost finalized) tool-changer integration

  • finalized tutorials for non-skill purposes

hrr_cobot_cobot

updated calibration routine to cope with arbitrary force-gravity vectors (e.g. pull from side by cable) --> previous versions are thus incompatible as returns have been adjusted

NOTE: current calibration routine is unsafe for certain configurations (screwdriver and partially shaft-grinder) as there is no collision avoidance included. Use with care, workaround / solution is in progress.

hrr_msgs

tool-changer integration

  • adjusted URDFs (hrr_ee_tools to v0.2.0)
  • adjusted launch files (hrr_common to v0.2.0)
  • added tool-control (see hrr_ee_tools assets)
  • updated hrr_cobot_robot to v0.1.7 (added tool-chaning utility to cobot instance.)
  • updated hrr_robot to v0.1.7 (added tool-controller to docu)
  • added ROS-interface for tool_controller to hrr_cobot_robot (see gripper_interfaces module)
  • added basic tool-changing notebook tutorial (nb 07)

v0.1.6

hrr_cobot updates

updated docu and meta package version given latest changes below

hrr_cobot_robot

added change tool changer routine to hrr_cobot_robot -> still misses motion planning routine.

v0.1.5

hrr_cobot_robot

  • add tool change launch and scripts

v0.0.2

hrr_ee_tools

  • added URDFs for screwdriver
  • added URDFs for shaftgrinder
  • added URDFs for toolchanger
  • added URDFs for vacuum gripper

v0.1.4

hrr_cobot_cobot

  • switched calibration routine to action-service
  • added tutorials for action-service to notebook 5
  • adjusted gripper API / control
  • added compliant robo control from DSA / gripper readings
  • test new pipeline and action services
  • adjust all gripper content --> recordings from early September are all incompatible by now

v0.1.3

hrr_common & hrr_cobot_robot

  • correct transformation handling, which was used inconsitently and just working by chance
  • adjusted hrr_cobot_robot w.r.t. new transformation handling
  • adjusted basic action-service hanlding for skills (not tested)

hrr_msgs

  • added action-services for grasping, levering (maybe dropped) and unscrewing
  • added SkillResult.msg
  • makes hrr_cobot_robot inompatible with current version (v0.1.2)

v0.1.2

  • Removed outdated source code and packages --> refer to @backup tag
  • added notebooks to main docu (to be found under `hrr_cobot`)
  • added dynamic parameter configuration config files and tested basic connection to initiate skill-learning remotely.
  • basic content for a skill is implemented for unscrewing

v0.1.1

  • adjust skill-implementations wrt new API
  • Removed `hrr_manipulation_primitives`, `hrr_skills` and `hrr_manipulation_skills`
  • Instead added manipulation_skills and manipulation_primitives to `hrr_cobot_robot` python module

v0.1

  • adjusted `hrr_cobot_robot` API
  • added API structure + pipeline
  • adjust action services with new controller interface and pipeline

v0.0.4

hrr_controllers

  • Added hrr_compliant controller (beta / testing)
  • Removed displacement controller nonsense --> useless
  • Added Doku / REAMDE-content

v0.0.3

hrr_controllers

Added velocity control in arbitrary frames to sensor_tracking_velocity_controller Also added some messages to hrr_msgs

Note:

  • the reference frame 'tcp_controller', i.e. the frame of the sensor-tracking module is ignored by this controller
  • for any other frames, the desired command is transformed from this frame to the base frame of the robot.
  • added initial version of the compliant controller in C++ which should be used later

v0.0.4

removed all python cobot related handles from hrr_common to hrr_cobot_robot

  • improved docu
  • hrr_common now restricted to providing general utilities and helper funcions
  • added some examples and documentation for hybrid control action service in hrr_cobot_robot
  • added basic skills as flexbe states and some example behaviors in hrr_manipulation_primitives and hrr_manipulation_skills

v0.0.3

added basic manipulation primitives and skills 06/21

v0.0.2

Consortium meeting 05/21

Latest package state at consortium meeting 20.05.2021

content

  • handles for robot, FT-sensor, gripper
  • general hrr_cobot master handle
  • ros-controller manager helpers
  • command interfaces for joint trajectory control and sensor-tracking velocity control
  • basic Cartesian displacement interfaces set up but skipped as it sucks balls

v0.0.1

Base verion

undocumented state for whatever