Changelog for package hector_gazebo_plugins

0.5.4 (2021-06-23)

• Added missing generate_message_cpp dependancy

• Add service to gazebo gps sensor to set reference geopose

• Add parameter to enable fetching the spherical coordinates from the world. (#83)

  * Use worlds spherical_coordinates for GPS/magnetic reference This modifies GPS and magnetic plugins to use the values from the spherical_coordinates element of the world SDF as default values for the latitude, longitude, altitude and heading references. The optional parameters can still overwrite this values. However it is important to notice, that the heading in the world SDF is specified counter-clockwise from east whereas the reference_heading parameter is specified is specified clockwise from north.

  • Update spherical coordinates calls.

  * Add parameter to enable fetching the spherical coordinates from the world. This extends #47 with the addition of a "useWorldSphericalCoordinates" parameter that must be present and set to true to allow using the world's coordinates. This should solve #15 while addressing the concerns in #47. Co-authored-by: Jacob Seibert <<jacob.seibert@enway.ai>>

• Contributors: Ferry Schoenmakers, Roland Arsenault, h-wata

0.5.3 (2021-02-03)

• Updated CMake version and fixed CMP0048 for non-metapackages.
• Merge branch 'kinetic-devel' into melodic-devel
• Adjust licenses to be consistent with cpp files and plugins used in gazebo_ros_pkgs
• Updated package format and maintainer information.
• Contributors: Stefan Fabian, Stefan Kohlbrecher

0.5.2 (2020-12-17)

• Add case for rotating in place in odometry (#75)

  * Add case for rotating in place in odometry Odometry calculations were not taking in account the case of the robot rotating in place. This would cause a division by zero and make the plugin return invalid data. This commit handles this case by not using the arc method if the distance traveled by the robot is close to zero.

  * Fix negative Y-axis motion bug Only the displacement along X and the combined displacement were used to calculate the angle between the X-axis and the robot drive direction. This resulted in a positive angle whatever if the displacement along Y was positive or negative. This commit addresses the issue by using both displacements along X and Y to calculate the angle.

• Allow publishing sensor_msgs/MagneticField (#73) Add a new useMagneticFieldMsgs parameter to the magnetometer plugin, allowing the node to publish sensor_msgs/MagneticField messages instead of std_msgs/Vector3Stamped

• Add support of holonomic robot by adding missing Y component in odometry (#71)

  * Add support of holonomic robot by adding missing Y component in odometry The odometry was only computed taking in account linear velocity on the x-axis and angular velocity around the z-axis. The code is modified to include linear velocity on the y-axis for support of holonomic robots. Odometry arc and radius are calculated the same way as before but using the combined linear velocity instead. The end position is then rotated by the angle between the combined velocity vector and the x-axis

  • Change variable name
  • Rename combined velocity angle variable

• Merge pull request #64 from ms-iot/upstream_windows_fix [Windows][melodic-devel] Follow catkin guide to update the install path

• fix install path. (#1)

• Merge pull request #53 from enwaytech/ml/cmp0054_fix add CMP0045 cmake policy before gazebo include in CMakeLists.txt

• add CMP0045 cmake policy before gazebo include in CMakeLists.txt

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