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Changelog

This file documents notable changes to this project done before February 2024. For changes after that date, plase refers to the release notes of each release at https://github.com/robotology/gazebo-yarp-plugins/releases .

[4.10.0] - 2024-02-29

Added

  • The gazebo_yarp_controlboard plugin gained support to load at runtime arbitrary couplings specified by a yarp device that exposes the yarp::dev::IJointCoupling interface. The name of the yarp device used to load the coupling is passed via the device parameter in the COUPLING group. For an example of PR that uses this new feature, check icub-tech-iit/ergocub-software#178 .
  • The gazebo_yarp_basestate has been modified to be aligned w.r.t. of plugins in gazebo-yarp-plugins, supporting disableImplicitNetworkWrapper and yarpDeviceName parameters, and by supporting the use of gazebo_yarp_robotinterface plugin (#675).

Removed

  • The support for passing the icub_hand_mk5 parameter in the COUPLING the gazebo_yarp_controlboard plugin was removed. This breaks compatibility with models contained in ergocub-software <= 0.6.0, to use those models use a newer version of ergocub-software.

[4.9.0] - 2023-10-31

Changed

  • The icub_hand_mk5 coupling handler has been refactored, it now requires the group COUPLING_PARAMS that allows to differentiate between the coupling mk5.0 and mk5.1(#662).

[4.8.0] - 2023-07-31

Added

  • The gazebo_yarp_forcetorque plugin now exposes also the yarp::dev::ITemperatureSensors interface, so it can stream fake temperature values (#656).

Fixed

  • Fix installation of import libraries on Windows (#657).

[4.7.0] - 2023-06-05

Changed

  • The gazebo_imu plugin used to output orientation measurements as if the sensor was zero-aligned with the world frame, regardless of the initial orientation of the part the sensor is attached to. To match most real-world IMUs, the default behavior was changed to allow measuring orientation with regard to the world frame at all times. The old behavior can be restored by setting the useInitialSensorOrientationAsReference config option (#639).
  • The gazebo_yarp_controlboard plugin is compiled using C++ 20 compiler features (#650).
  • The BaseCouplingHandler::decoupleVelRef() methods within gazebo_yarp_controlboard provides an input argument containing the full joints position feedback, to be used to implement velocity decoupling laws that depend on the joints position.

Fixed

  • Fix wrong install include for gazebo_yarp_lib_common library (#644).
  • Fix wrong implementation of coupling handlers of ergoCub MK5 hands within the gazebo_yarp_controlboard plugin (#650).

[4.6.0] - 2023-01-13

Added

  • In gazebo_yarp_controlboard add the icub_hand_mk5 coupling that models the iCub mk5 hand, that is used also in ergoCub 1 robot (#641).

[4.5.2] - 2022-11-17

Fixed

  • Fix compatibility with YARP 3.8 (#640).

[4.5.1] - 2022-08-31

Fixed

  • Fix behaviour of MultipleAnalogSensor get**Name methods in nested models (#633).

[4.5.0] - 2022-08-23

Added

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

Fixed

  • Fix YARP 3.8 compatibility (#627).

[4.4.0] - 2022-05-31

Fixed

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

[4.3.0] - 2022-04-04

Added

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

Changed

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

Fixed

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

[4.2.0] - 2022-02-28

Added

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

Fixed

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

[4.1.2] - 2022-01-19

Fixed

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

[4.1.1] - 2022-01-13

Fixed

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

[4.1.0] - 2021-12-23

Changed

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

Fixed

  • Fixed compilation with YARP 3.6 (#599).

[4.0.0] - 2021-09-03

Added

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

Changed

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

Fixed

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

Removed

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

[3.6.2] - 2021-08-27

Deprecated

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

[3.6.1] - 2021-05-19

Fixed

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

[3.6.0] - 2021-02-24

Added

  • Add refSpeed and refAcceleration options to the TRAJECTORY_GENERATION group of the gazebo_yarp_controlboard plugin configuration. They are expected to hold exactly n_joints values (an error is reported otherwise) describing reference speeds and accelerations, respectively, for use by the selected trajectory generator (if necessary).
  • Add trapezoidal_speed as a new supported value for option trajectory_type of the gazebo_yarp_controlboard plugin configuration. This generator enables the trajectory to follow a trapezoidal speed profile in position control mode, limited by provided reference speed (saturation) and acceleration (both ramps) values. If already executing a trajectory in this manner, newly generated trajectories take into account previous joint velocities and update the motion accordingly.
  • Add gazebo_yarp_robotinterface plugin, the documentation for it can be found at plugins/robotinterface/README.md (#532).
  • The gazebo_yarp_depthcamera and gazebo_yarp_doublesensor now accept a yarpDeviceName parameter (#532).

Changed

  • The deviceId parameter of the gazebo_yarp_lasersensor is now named yarpDeviceName )#532).

Fixed

  • Fix the support for running Gazebo itself with the gazebo_yarp_clock with YARP_CLOCK set, without Gazebo freezing at startup. In particular, setting YARP_CLOCK is suggested to ensure that all the threads of YARP Network Wrapper Servers are executed with the frequency correctly synchronized with the Gazebo simulation (#537).

[3.5.1] - 2020-10-05

Added

  • Add velocityControlImplementationType option to the VELOCITY_CONTROL group of the gazebo_yarp_controlboard plugin configuration. This option permits to switch between direct_velocity_pid, that is using a velocity PID for the Velocity Control Mode (what has been implemented until now) and integrator_and_position_pid that uses an integrator that integrates the velocity reference and then uses the position low level PID, similarly to what is implement on real YARP-powered robot such as iCub or R1. The setting is now optional and if not present will default to direct_velocity_pid, but it will be compulsory in gazebo-yarp-plugins 4.x (#514).

Fixed

  • Fixed use of the VOCAB_CM_MIXED control mode when the physics timestep is different from 1 millisecond (#514).
  • Fixed missing initialization of a pointer in gazebo_yarp_controlboard . In some cases this was causing crashes when a model that contained a gazebo_yarp_controlboard plugin was removed from the simulation (#514).

[3.5.0] - 2020-08-26

Added

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

Fixed

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

[3.4.2] - 2020-08-25

Fixed

  • Removed Windows end of lines (#507).

[3.4.1] - 2020-08-24

Fixed

  • Fixed compilation with Boost 1.73 (#505).

[3.4.0] - 2020-05-19

Added

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

Fixed

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

[3.3.2] - 2020-05-08

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

[3.3.1] - 2020-03-05

Fixed

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

[3.3.0] - 2019-12-13

Added

Fixed

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

Removed

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

[3.2.0] - 2019-07-01

Added

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

Fixed

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