Changelog for package clearpath_control

2.3.1 (2025-04-16)

2.3.0 (2025-04-11)

• [clearpath_control] Added remapping for upstream mecanum controller. (#199)
• Re-add reference remapping (#198)
• added cmd_vel_out to dingo Ds
• remove duplicate remap
• Jazzy dingo and ridgeback fixes (#179)
  • Updated mecanum controller type
  • Changed puma control frequency to 20hz
  • Added mecanum package dep
• initial changes for adding the linited velocity output
• Ensure the right horizontal axis is used for yaw control, left horizontal axis for linear-y (#178)
• Contributors: Chris Iverach-Brereton, José Mastrangelo, Roni Kreinin, Tony Baltovski, luis-camero

2.2.2 (2025-04-09)

2.2.1 (2025-04-07)

2.2.0 (2025-03-11)

2.1.0 (2025-01-31)

• Reduced angular velocity limits from joysticks (#160)
• Feature/ekf diagnostics (#158)
• Diff drive parameter updates for improved odometry (#155)
• Contributors: Hilary Luo, Roni Kreinin

2.0.3 (2025-01-21)

• Bypass bluetooth link quality check (#151)
  • Comment-out the bluetooth cutoff node, the mux, and the remap from the joy_teleop to bypass the link quality check
  • Add missing newlines to joy teleop config files
  • Change the link quality check to be exclusive instead of inclusive
• Contributors: Chris Iverach-Brereton

2.0.2 (2025-01-20)

2.0.1 (2025-01-17)

2.0.0 (2025-01-16)

• Update diff_drive controller settings (#137)
  • Update diff_drive controller settings
  • Update all diff_drive settings
• Improve joy telep support (#131)
  • Update description, add bluez dependency
  • Add the quality_cutoff parameter to all of the PS4 configuration files
  • Update the launch file to start the new cutoff node and additional twist_mux
  • Add udev rules for various controllers
  • Add dependency on the new bt cutoff package
  • Add xbox controller parameters for all platforms
  • Fix the PS4/5 axis ordering; the left stick shows up as axis 3/4, with the l/r analogue triggers being 2 & 5. Update omni control configurations accordingly
  • Add PS5 udev rules, config files
  • Add a timeout to the quality lock so we lock out the controller if the quality-checker node crashes
  • Set the respawn flag for the BT cutoff node and the joy_linux node
  • Add additional logging when blocking for services & IPC. Since we've added a timeout to the lock, publish fake quality data when using wired controllers. Log when this happens
• Add [enable_ekf]{.title-ref} launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (#133)
• Fix sensor depends (#129)
  • Remove the package initializations that depend on robot packages
  • Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages
• A300 VCAN (#130)
  • A300 vcan1
  • Set vcan0 to be default can interface for lynx control
  • Fix to prevent including the same package multiple times
  • Added filename argument to LaunchFile
  • Linting
• A300 (#118)
  • Add A300 meshes
  • Move A300 meshes
  • Add A300 URDF
  • Added A300 control configuration files
  • Remove unstamped parameter, deprecated
  • Use clearpath_hardware_interface LynxHardware
• Fix controller names and kinematics (#109)
• Update simulation support for Jazzy (#117)
  • Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages.
  • Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway
  • Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file
  • Fix the tests to catch unsupported platforms & accessories
• Rename ign_ -> gz_ for gazebo dependencies, comment-out missing jazzy dependencies (for now)
• Removed unstamped remappings
• Set minimum version of teleop_twist_joy to 2.6.1 (the lowest version that supports stamped messages)
• Pass use_stamped to twist_mux
• Remap twist_mux output to stamped cmd_vel
• Pass publish_stamped_twist to joystick teleop node
• Remap stamped cmd_vel controller topic
• Contributors: Chris Iverach-Brereton, Christoph Fröhlich, Luis Camero, Roni Kreinin, Tony Baltovski

1.0.0 (2024-11-25)

• Fix controller names and kinematics (#109)
• Contributors: luis-camero

0.3.4 (2024-10-08)

0.3.3 (2024-10-04)

0.3.2 (2024-09-29)

0.3.1 (2024-09-23)

0.3.0 (2024-09-19)

• Changes.
• Add dependency clearpath_mecanum_drive_controller
• 0.3.0 Release Candidate with Main Changes (#81)
  • Added tests
  • Added action to build from release and source
  • Generator linting erros
  • Customization linting errors
  • Linting
  • Fix: Remove IP address from discovery server launch so it listens on all NICs
  • Changes.
  • 0.2.8
  • Add sysctl config file that changes ipfrag settings to support receiving large messages
  • Added Zed URDF
  • Added Zed to description generator
  • Modified common parameter generation to always flatten
  • Changes.
  • 0.2.9
  • Missing important remapping to mirror hardware topics
  • Added topic to gazebo plugins
  • Updated topic names to match gazebo message types
  • Topics of simulated onboard sensors
  • Realsense adds optical links when in simulator
  • Changes.
  • 0.2.10
  • Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
  • Fixes styling issues
  • Set spawner as super client
  • Changes.
  • 0.2.11
  • Removed duplicate class
  • Use ROS1 covariance values
  • Updated renamed macanum drive controller

  * Enable gazebo friction plugin on DingoO ---------Co-authored-by: Hilary Luo <<hluo@clearpathrobotics.com>> Co-authored-by: Tony Baltovski <<tbaltovski@clearpathrobotics.com>> Co-authored-by: Steve Macenski <<stevenmacenski@gmail.com>> Co-authored-by: robbiefish <<rob.fisher@hbkworld.com>>

• Add Y to controllers
• Updated wheel separation
• Keep both joint definitions
• Control updates
• Changed default canbus device to vcan0
• Added Puma control configuration
• 0.2.8
• Changes.
• 0.2.7
• Changes.
• Control adds manipulators if simulation
• Modifications to allow arms to function
• 0.2.6
• Changes.
• Disable tf_frame_prefix_enable
• 0.2.5
• Changes.
• 0.2.4
• Changes.
• 0.2.3
• Changes.
• 0.2.2
• Changes.xx
• 0.2.1
• Changes.
• Added do150 control
• Dingo O mecanum wheels
• Fixed rocker and small covariance
• Fixed wheel radius parameter
• Initial add do100
• Contributors: Luis Camero, Tony Baltovski, luis-camero
• Add dependency clearpath_mecanum_drive_controller
• Added tests
• Added action to build from release and source
• Generator linting erros
• Customization linting errors
• Linting
• Fix: Remove IP address from discovery server launch so it listens on all NICs
• Add sysctl config file that changes ipfrag settings to support receiving large messages
• Added Zed URDF
• Added Zed to description generator
• Modified common parameter generation to always flatten
• Missing important remapping to mirror hardware topics
• Added topic to gazebo plugins
• Updated topic names to match gazebo message types
• Topics of simulated onboard sensors
• Realsense adds optical links when in simulator
• Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
• Fixes styling issues
• Set spawner as super client
• Removed duplicate class
• Use ROS1 covariance values
• Updated renamed macanum drive controller
• Enable gazebo friction plugin on DingoO
• Add Y to controllers
• Updated wheel separation
• Keep both joint definitions
• Control updates
• Changed default canbus device to vcan0
• Added Puma control configuration
• Control adds manipulators if simulation
• Modifications to allow arms to function
• Added do150 control
• Dingo O mecanum wheels
• Fixed rocker and small covariance
• Fixed wheel radius parameter
• Initial add do100
• Contributors: Tony Baltovski, luis-camero, Steve Macenski, Hilary Luo, robbiefish

0.2.11 (2024-08-08)

• Set spawner as super client
• Contributors: Luis Camero

0.2.10 (2024-07-25)

0.2.9 (2024-05-28)

0.2.8 (2024-05-14)

0.2.7 (2024-04-08)

0.2.6 (2024-01-18)

• Disable tf_frame_prefix_enable
• Contributors: Luis Camero

0.2.5 (2024-01-15)

0.2.4 (2024-01-11)

0.2.3 (2024-01-08)

0.2.2 (2024-01-04)

0.2.1 (2023-12-21)

0.2.0 (2023-12-08)

• Pass robot description to controller manager over topic
• Added W200 Hardware interface.
• Fixed dingo control param
• Added DD150
• Fixed name
• Removed comments
• Reduced speed on turbo dd100
• Added dd100
• Added fixes to control and localization
• Extended timeout to a minute
• Added configuration files for generic robots
• Fixes to control parameters and naming
• Fixed package names and added w200 urdf macro
• Initial Warthog addition
• Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski

0.1.3 (2023-11-03)

0.1.2 (2023-10-02)

0.1.1 (2023-08-25)

0.1.0 (2023-08-17)

• Formatting
• Removed joy_teleop namespace, remap topics to that namespace instead
• Contributors: Roni Kreinin

0.0.9 (2023-07-31)

• Update platform nodes from extra ros parameters Flattened default parameter files
• Contributors: Roni Kreinin

0.0.8 (2023-07-24)

0.0.7 (2023-07-19)

0.0.6 (2023-07-13)

0.0.5 (2023-07-12)

0.0.4 (2023-07-07)

0.0.3 (2023-07-05)

• Updated localization configs
• J100 use Vyaw for localization
• Updated husky track value
• Wheel slip plugin Significantly improved jackal odom in sim
• Contributors: Roni Kreinin

0.0.2 (2023-07-04)

0.0.1 (2023-06-21)

• Updated launch writer make writing different object types easier Localization parameter fixes Updated gazebo wheel friction
• Added namespacing support
• Added clearpath_generator_common Moved clearpath_platform to clearpath_common Fixed use_sim_time parameter issue with ekf_node
• Use generated configs for control, localization, teleop
• use_sim_time support Added lidar gazebo plugins
• Fixed dependencies
• Moved description generator to clearpath_generators Added accessory urdf's Use launch arg for choosing controller
• Moved IMU filter to platform launch Moved localization into a separate launch file Updated decoration urdfs Added structure urdf
• Remapped topics to match API
• Corrected imu_filter_node topics and parameter node name Use joy_linux
• Bishop sensors/mounts
• Added realsense description
• [clearpath_control] Renamed robot_model to platform_model.
• control launch fixes Added ark enclosure for j100 top_plate
• Move clearpath_description to clearpath_platform_description and switched robot names to robot model number.
• [clearpath_control] Switched to using model number.
• [clearpath_control] Changed depends to exec_depends.
• [clearpath_control] Updated platform names to model.
• Select launch configuration without launch context
• Initial commit of clearpath_control.
• Contributors: Roni Kreinin, Tony Baltovski