Changelog

ROS Noetic

Version 1.0.31 (Aurora 2.2.5) Current Noetic Release

• Fix Hand with STF Rviz configuration files

• Fix ethercat hardware ‘update’ thread priority

• Smoothing Left arm jumps (servoj_lookahead_time)

• Fixing hand calibration gui plugin to launch plotjuggler from server

Version 1.0.30

• ROS drivers to interface with new Palm firmware 250

• Update necessary messages for new tactile sensor

• Update MST meshes (and xacro) to MSTXL and adding MST sensors taxels TFs to the Hand TF tree

• Quickfix to RQT fingertip visualisation when STF sensors are installed

• Fix IMU data plots

• Make STF resources (nodes, config files, etc) public

• (In sr_hand_config) Update README to describe the distal sensor data yaml file

• Aggregate all connected Ethercat devices diagnostics under ‘Ethercat Master’

• Multi-threaded ethercat device updates (for bimanual systems)

• Removing reindexing from rosbag rotate

Version 1.0.29 (Aurora 2.2.4)

• Removing static UR paths

• Adding axis scaling depending on noise

• Bug: Fix world scene creation

• Normalising velocity scaling and acceleration scaling parameters consistent among hand(s) & arm(s) combination

• Versioning universal robot dependencies

• Adding display of TF by default unenabled and RobotModel

• Bug: Teach mode node initialisation fix

• Add type hinting and tactile detect prevention

• Adding robot safe store model, worlds and scenes

• Adding support for new stand

• Adding export of sr_hand_finder (and sr_arm_finder) libraries such that they can be resolved externally

Version 1.0.28

• Removing static UR paths

Version 1.0.27

• Bug: Fix hand inertia values (Little Finger metacarpal)

• Increase timeout for joint states in teach mode node

• Add missing catkin package angles

• Updating demos

Version 1.0.26 (Aurora 2.2.0) - Previous noetic-release

• Enable autodetection params determine the pack position for different hands

• Updating the controller stopper node and urscript file location

• Updating demo (for release)

• Updating robot states service and increasing demo sleep time

• Adding E4 to the list of correct options

Version 1.0.25

• Changing demo scripts

• Fixing bug introduced by lint changes that broke the generation of group states for multi-robot move groups.

• Updated the close and open demo

• Fixed issues with sr ur unlock test

• Changed accepted joints for hand_extra_lite

• Adding new position-only fingertip IK example

• Changed finger in hand_lite grasp demo causing KeyErrors

• Fixed how sr_bimanual.launch deals with product types

• Update ports for ur fix

• Enabling coverage in robot commander

• Bug: Removing the axis from the link visual and collision. The join deals with the axis not the link.

• Add latest MST ROS message

• New version E4: Includes new meshes for lfmetacarpal and palm

• Removed thumb distal material

• Fixing relative lfknuckle position

• Fixing dae files

• Fixing hand e urdf convention

• Update hand icon

• Added Timeout to calibrate_hand_finder

• Adding getters for private variables in HandFinder

• Added a rosparam and launch file to run calibration script.

• Update hand icon

• Fetching changes from upsteram

• Update known_good_firmware.txt

• Fixing arm calibration loader.

Version 1.0.24

• Fixing bootloader

• Fixed issue with bootloader GUI when in server_and_nuc deployed scenario

• Added motor check

• Change toolset branch

• Fix licence and linter changes

• Demo_A calibration and tuning update.

• New Calibration.

• Fix snapping to the next ms period after an overrun. By making the period be an integer, the existing algoritm works wellGitHub

Version 1.0.23

• Migrating config to autodetection

Version 1.0.22

• Fixing bootloader

Version 1.0.21 (Aurora 2.1.6) - previous noetic-release

• Used for release

Version 1.0.20

• Fixing TF re-publisher to prevent REPEATED_TF messages

• Updated and fixed issue with error reported by bag_rotate node

• Updated bag rotate

• Corrected order of fingers moving when using demo icons

Version 1.0.19

• Update known good firmware file - UR10 arms

• Fixing rosbag rotate

Version 1.0.18 (Aurora 2.1.5) - previous noetic-release

• Fixing demo behaviour when tactile sensors are installed

Version 1.0.17

• Update repository with sr_hand_config

• Fix handling of active rosbags

• Remove default hand serial parameter

• Fixing bug config file pid parameters being erased when saving selected

• Rounding up values for joint slider

Version 1.0.16

• Fixed linter errors

• Improve realtime publisher fast pid divisor

• Fix joint position/velocity filter

• Fix broken rosbags

• Increase wait for joints_states message timeout on TeachMode

• Fixing arm only launch

• Added a System Health Node

• Removed incorrect error message

Version 1.0.15

• Improve realtime publisher fast pid divisor

• Fix j0 pos vel filter

• Added getter for hand trajectories

• Fix broken rosbags

• Supporting workspaces without UR components

• Changed default version values when launching hand in simulation

• Fixing teach mode for different hand types

• Fixing arm only launch

• Increasing timeout time in teach mode node

• Removed incorrect error message

• Fixing access modifiers

• Fixed linter errors

Version 1.0.14 (Aurora 2.1.4) - previous noetic-release

• No changes (release testing image)

Version 1.0.13

• Adding more time to sleep to reload params

• Added getter for hand trajectories

• Do not require ur_description unless it is needed

• Changed default version values when launching hand in simulation

• Fixing teachmode for different hand types

• Fixing access modifiers

Version 1.0.12

• Add aws manager test

• Update shadowhands_prefix.srdf.xacro

• Adding “first finger point” to named hand states

• Update arm and hand examples

Version 1.0.11

• Update demo

Version 1.0.10

• Fix calibration loader

• Fixing demo for left hand

• Fixed linter errors

• Adding bimanual support to data visualizer

Version 1.0.9

• No changes (release testing image)

Version 1.0.8

• No changes (release testing image)

Version 1.0.7

• Updated AWS Manager to allow for subfolders

• Fix error with decoding git commands in ws_diff

• removed unused imports from sr_ur_arm_calibration_loader.py

• Removing sr_config repo

• Fixing shebang and file saving in Hand Health Report

• fix building error: This package requires sr_visualization_icons to build, and this patch fixes it

• Solve bug Unfiltered position and force traces not shown

• Update warnings in RQT

• Adding serial number to FingertipVisualizer plugin

Version 1.0.6

• Removed roswrapper from launch files using Autodetect

• Fix missing use namespace EigenCompiling packages for the ros-o initiative

• Fixed mistake in file change_controllers.py

• Delete sr_teleop_polhemus_documentation_server.py

• Removed ros files for sr_teleop_polhemus_documentation

Version 1.0.5

• Changing default vaules of fingertip sensors srhand.launch

Version 1.0.4

• Xacros refactored

• Remove obsolete scoped_ptr

• Switching to new xacros

• Fixing bugs in launch files

• Adding return to plan executions

• Removing box from arm without hand and bimanual system without hands

• Deleted sr_box_ur10_moveit_config folder

• Refactor robot commander test

• Removing sr_hand_dep

• Removing deprecated field from general_info

• Fix phantom hand

• Removed old launch file with box and replaced with the new one from sr_interface

• Support ImageMagick 6 and 7

• Hand side fix error

Version 1.0.3

• Migrating to dae and adding materials

• Fixing the color of wrist mesh

• Switching to new xacros

• Update arm related arguments in sr_robot_launch

• Adding a way of exiting the demo

• Edit tactile threshold

• Showing allowed options for general info template

• Re-write data visualizer

Version 1.0.0 (Aurora 2.0.0) - previous noetic-release

• Integrate UR driver from upstream

• Refactoring sr_description: adapted test and added more parameters validation

• Create trajectory command publisher utility class

• Migrate controls and calibrations

• Fixing wrist controller spawning and updating/cleaning up controller spawner script and docs.

• Add voice feedback to voice controller

• Listen to topics to detect speaker/microphone changes

• Replace PyDub library with a direct call to ffmpeg

• Adding republish tf new place

• Integrate UR driver from upstream

• Updating tf republisher

• Adding collision scene for filling line

• Add hybrid controller argument to more launch files

• Removing external control option for sim

• Removing sr_config references

• Fix robot_commander test in AWS

• Make wrist trajectory controller it’s own entity

• Integrate ur driver from upstream

• Fixing scene spawning

• Xacro package changed, now needs a function call to setup file stack for error reporting

• Fixing controllers for hand lite

• Fixing movegroup controller problem

• Fix planning errors

• Fixing wrist controller spawningFixing wrist controller spawning.

• Fix __kinematics

• Loading analyzers from new place

• Migrate controls

• Migrate calibrations

• Loading rates from a new place

• Deprecating sr config

• Migrate controls

• Migrate analyzers

• Migrate calibrations

• Migrate rates

• Fixed the calibration for both lph and rph.

• Integrating auto-detection

• Fixing errors when changing controllers and resetting joint sliders

Version 0.0.18

• Update rviz_motor.launch

• Fixed Relative path

• Add hybrid controller configuration files

• Load hybrid controller configuration

• Remove redundant aws manager

• Removing hand detector

• Move sr_world_generator from common_resources to sr_tools

• Add world & scene for XPrize competition

• Fixed aws_manager

• Enhancing cond delay tool

• Prepare the piezo driver to work with multiple dev-kits

• simple executable ros wrapper

• fixing the tests

• Integrated autodetection

• Add hybrid controller argument to more launch files

• Removing robot description

• Adding configs for clients in noetic

• Move sr_world_generator from common_resources to sr_tools

• Added missing resource and uis install for sr_data_visualization

• Removing muscle rqt plugins

• Added missing resource and uis install for sr_data_visualization

• Removing grasp controller from plugins

Version 0.0.17 (Aurora 1.1.8) - previous noetic-release

• Update tactile_receiver.py

• Move conditional delayed rostool to src and add launch prefix for launching nodes

• Load hand trajectory controller for hand in sim use case

• Adding trajectory controllers for bimanual

• B revert wrist in arm controller move group fix

Version 0.0.16

• Robot commander fix

Version 0.0.15

• Adding new xacro for a hand extra lite with only two fingers mf and th

• Limiting sim speeds to 1.0, now that CPUs are fast enough.

• Fixed linter error in hpp file

• Dixed linter errors in hpp files

Version 0.0.12

• Update simple_transmission.hpp

• Revert “SRC-4962 Move controller switching to CPP (#647)”

Version 0.0.11

• Fixing SrRobotCommander

Version 0.0.10

• Adding hybrid file

• F#src 6473 handle 0 in git revision

• SRC-6470 Release noetic dexterous hand image

• SRC-4962 Add changes from teach_mode_node

• SRC-6063 Don’t busy wait for params

• Changing to correct launchfile

• Adding prefix to ur10e yamls

• F#src 6509 optimise arm unlock noetic

• F#src 6509 optimise arm unlock

• SRC-4962 Use helper class from common_resources

• F#src 6477 sr ur arm unlock test noetic

• SRC-4962 Move controller switching to CPP

• initial commit for mock ur dashboard server

• Adding arm servo noetic

• SRC-6177 Fix little finger error reporting

• Integrating hybrid controller

• fixing noetic

• SRC-6470 Release noetic dexterous hand image

• Fixing bootloader path with casting to string

Version 0.0.9

• F#src 6509 optimise arm unlock noetic

• F#src 6509 optimise arm unlock

• Fixing bootlo* ader path with casting to string

Version 0.0.8

• F#src 6473 ha* ndle 0 in git revision

• SRC-6470 Rele* ase noetic dexterous hand image

• Adding prefix to ur10e yamls

Version 0.0.7

• SRC-6470 Rele* ase noetic dexterous hand image

Version 0.0.6

• Fixed deprecated .mesh

• F#98 modular * xacros

• SRC-6467 Intr* oduce git_revision field in GenericTactileData

• Update demo_r* .py

• Src 6413 create a collision model for the rack

• add only stan* s

• B fixing watchdog test

• F fixing speech control

• SRC-6470 Release noetic dexterous hand image

• SRC-6301 Implement reading of MST sensors

• Update package.xml

Version 0.0.5

• fix pedal bug

• B pedal restart fix

ROS Melodic

Version 0.0.62 (current melodic-release)

• Improving saving utility for Noetic

• Fixing yaml load

• Adding respawn

• Fixed calibration loader

• Automatic calibration loader not working in URSIM

• Adding missing arguments

• SRC-6043 Remove unused ‘rename’ arguments

• Adding kill node script

• SRC-5239: Adding speech control

• SRC-6183 Add __init__.py file

• SRC-6183 Various improvements for speech control

• Fixing yaml load

• arms braking

• fix home

• removing the required flags

• Fix_an_arm_and_hand_xacro

• Adding x and y separations to launch and xacros

• changing jiggle fraction default value

• Update sr_ur_arm_unlock

• fix syntax error

• Automatic calibration loader not working in URSIM

• Publish underactuation error

• Fixing srdf generation and saving of file

• Fixing yaml load

• improving hand and arm rostest

• Commenting trac_ik and replacing it to kdl until it is available in Noeticoetic

• updating unimanual y separation

• Fix pedal reset for protective stop

• Add new driver for teleop pedal

• Update 90-VEC-USB-Footpedal.rules

Version 0.0.61

• Fix pedal reset for protective stop

Version 0.0.60

• Improving saving utility for Noetic

• Fixing yaml load

• Adding missing arguments

• Remove unused ‘rename’ arguments

• Adding kill node script

• Adding speech control

• Add __init__.py file

• Various improvements for speech control

• Fixing yaml load

• Publish underactuation error

• Fixing srdf generation and saving of file

• Fixing yaml load

• improving hand and arm rostest

• Commenting trac_ik and replacing it to kdl until it is available in Noeticoetic

Version 0.0.58

• Changing paramiko version to 2.7.2

• Adding respawn

• Merging kinetic-devel back to melodic

• Fixed calibration loader

• Fixed arm and hand xacro

• Automatic calibration loader not working in URSIM

• Fixing orientation for left arms

• Fixing xacro

• Hand and arm test

• Arms braking

• Fix home

• Removing the required flags

• Updating unimanual y separation

• Adding X and Y separations to launch and xacros

• Changing jiggle fraction default value

• Update sr_ur_arm_unlock

• Fix syntax error

• Fix data visualization bug

• Add new driver for teleop pedal

• Update 90-VEC-USB-Footpedal.rules

Version 0.0.57 (previous melodic-release)

• Merging kinetic-devel back to melodic

• Fixing orientation for left arms

• Fixing xacro for sr_multi_description/urdf/right_srhand_lite_ur10e.urdf.xacro

• Adding hand and arm tests in robot launch

• Fix data visualization plugin bug

Version 0.0.56

• Add wait for robot description in sr_robot_launch/launch/sr_ur_arm_box.launch

• Plotjuggler v3

Version 0.0.55

• Update calibration GUI

Version 0.0.54

• Fetch arm ips from param server

• fixing set_named_target method in robot commander

Version 0.0.53

• Fix for hand finder overwriting urdf joints with all joints

• Add default to launch arg list

• Delete pull_request_template.md

• Adding wait to watchdog

• Fixing home angle arg in sr_robot_launch files

• Updating worlds and scenes to bimanual

• Adding the planning group two_hands

• Updating state saver for more options

Version 0.0.52

• Delete pull_request_template.md

• Fix for hand finder overwriting urdf joints with all joints

• Add default to launch arg list in conditional delay

Version 0.0.51

• Update sr_bimanual_ur10arms_hands.launch

• Adding start state to stored states

• Update planner to BiTRRT

• Modify parameter to load robot description at this level only if requested

Version 0.0.50

• Demohand a with ur10e updated

Version 0.0.49

• Adding hybrid controller arbitrary frame

• Removing exclude wrist from controller spawner

• Removing include_wrist_in_arm_controller param

• Adding planning quality to examples

• Adding scripts and documentation for in-docker leap motion running

• Bimanual demohands a d changes

• wrist mimic rostest

• Fix left arm scene

• add sr_robot_msg dependency

Version 0.0.48

• Created bimanual xacro for hand lites biotacs

Version 0.0.47

• Fixed hybrid controller installation and controller spawner

• Tests for the scene

Version 0.0.46

• Added hybrid controller

• Added a xacro for shadow hand left lite with biotacs

• Fixed install of ros_heartbeat

• Updated aurora instructions to specify ethercat_right_hand rather than ethercat_interface

• Fixed conditional roslaunch (added extra conditions)

• Adding and updating hand ROS tests

• New scene and world for MS lab

• add cpp wait for param

• updating open hand demo for smoother opening

Version 0.0.45

• Added stand to simulation

• Updated README

• adding additional check

Version 0.0.44 (previous melodic-release)

• Created /run/user/1000 folder inside the docker container (to fix rqt graphics issue)

Version 0.0.43

• Local hw interface and fixed do switch with centre of gravity

Version 0.0.42

• Updated README.md

Version 0.0.41

• Fixed and added files to make the ur5e with box work and generify the launch file

• Added metapackage

Version 0.0.40

• Updated sr_system.launch

• Added full hand ur5e support

• Added ur5e normal hand configs

Version 0.0.39

• Shadow glove GUI updated and moved

Version 0.0.38

Features:

• Updated calibration GUI

Version 0.0.37

Features:

• Tone down UR10e tuning so the arm behaves more smoothly

Version 0.0.35

Features:

• Fix hand control parameter error in setting the payload for UR arm

Version 0.0.34

Features:

• Update motor effort file for left hand

• Add relay node with tcp_nodelay param

• Hand + UR arm: allow setting cog and payload

• Use Shadow’s fork of universal robot repositor

• Fix biotac visualizer for bimanual

• change yaw roll, adjust formulas after real hw testing

• Fix sensor manager file

Version 0.0.33

Features:

• Changing expected delimiter from newline to ‘_’ in arm firmware checker

• Adding x and y separation for left bimanual arm config

Version 0.0.32

Features:

• Set arm IP defaults to new values (10.8.1.1 and 10.8.2.1) and also added a comment about aurora using sed to replace these IPs

• Changed hand mapping path default to v4

• fix for arm in safety violation mode

• second try at adding ur10 config, minimal changes

• Fixing controller spawning bug in which WRJ1+2 would not work when wrist was included in arm trajectory control

• Fixing controller spawning bug in which WRJ1+2 would not work when wr

• Updating calibration gui

Version 0.0.31

Features:

• Fixed bug in Dexterity Test that stopped hand moving to the correct poses.

• Fixed bug in the Bimanual launch files to load correct planning groups.

• Mujoco ur hand

• Fix ur box

• Fixing bug wherein conditional delay script would count found parameter

• Adding gui for shadow glove calibration

• Moving hand meshes to a more standard path to make gzweb work

• parsing hand sides

• remove user choice, add conditional delay

• arm calibration loader 2

• Adding wrapper script for autodetecting shadow hands

Version 0.0.30

Features:

• Fixed bug in RQT Data Visualiser that stopped other plugins from plotting

Version 0.0.29

Features:

• Config and xacro for hand lite ur10e

• Fixed bug with ur_arm_release

• Fixed conditional delay bug in sr_interface

Version 0.0.28

Features:

• now correctly handles exception

• config and xacro for hand lite ur10e

• Adding support for ur5e and hand lite

• fixing error message

Version 0.0.27

Features:

• adding hand mapping v4 files

• enable ft sensor on ur e robots

• adding la_ur10e_with_box xacro

• fixed sr_hardware control loop bug

• Adding scene and world for ms garage

• Update sr_ur10arm_box.launch

• adding mapping v4

• Fixing args being limited to group scope

• Restoring arm and hand_ctrl control loop arguments to the previous f

• Adding mock triple pedal

• Fixing intermittent bug in controller spawning

• Updating real time TF republisher for more flexibility

• adding ur10e with box yaml files

Version 0.0.26

Features:

• Updated controller spawner

• Replaced delay roslaunch with conditional roslaunch

Version 0.0.24

Features:

• Fixed an issue where the config files did not contain a robot_config_file parameter, preventing launch

• Fixed an issue where robot_description was not found for the NUC setup

• Fixed an issue preventing the effort controllers to launch

Version 0.0.20

Features:

• Fixed an issue where the hand Demo did not recognise Demo Hand D had biotacs

Version 0.0.17

Features:

• Fixed a hand serial issue with launching bimanual hands locally without a NUC

Version 0.0.16

Features:

• Fixed an issue in Rviz displaying left and right hands in the same location without separation when NUC with external control loop is being used

Version 0.0.15

Features:

• Fixed an issue in Gazebo9 not displaying the forearms of the hands properly

• Fixed an issue in Rviz displaying left and right hands in the same location without separation

Version 0.0.14

Features:

• Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop

Version 0.0.13

Features:

• Fixed deprecation errors for melodic

• Added bimanual with no hands to sr_robot_launch

ROS Kinetic

Version 1.0.53 (current kinetic-release)

Features:

• Fixed an issue with Moveit trajectory planning in the Bimanual setup

Version 1.0.52

Features:

• Fixed a hand serial issue with launching bimanual hands locally without a NUC

• Fixed an issue with launching left or right hand locally without a NUC for ROS Kinetic

Version 1.0.51

Features:

• Fixed an issue in Rviz displaying left and right hands in the same location without separation when NUC with external control loop is being used

Version 1.0.50

Features:

• Fixed a bug causing incorrect launch of unimanual left hand in NUC external control loop for ROS kinetic only

Version 1.0.49

Features:

• Fixed an issue in Rviz displaying left and right hands in the same location without separation

Version 1.0.48

Features:

• Enabling the bimanual hands only system (no arms) to be run on NUC with external control loop

Version 1.0.45 (current kinetic-release)

Features:

• Allows Hand control from the NUC

• UR firmware check on docker startup

• New thumb calibration

• Launch files updated

Version 1.0.38

Features:

• Supports using an external control loop (in a NUC) to launch: hand only, arm only, hand+arm

• If an arm is connected, there is an automatic arm firmware compatibility check

• Automatic compatibility check of the Docker Image and hand firmwares

Version 1.0.31

Features:

• Docker image now built in AWS

Version 1.0.26

Features:

• Added a feature that Docker Image release process checks for pre-existing Docker tags in Dockerhub

Version 1.0.25

Features:

• Updated launch files

• Added bimanual control

• General bugfixes

Version 1.0.24

Features:

• Fixing a few bugs with the Data Visualizer

• Hand E Data Visualizer GUI

Version 1.0.21

Features:

• System logging was added

Version 1.0.15

Features:

• Moveit warehouse branch was changed to our fork to work well. Official moveit warehouse was crashing

Version 1.0.12

Features:

• Moved CyberGlove configuration to its own repository. Using the CyberGlove requires the -cg Docker One-liner flag and correct CyberGlove branch to be specified

• If the hand is launched under simulation, use_sim_time is automatically set to true

• Added script to test real-time performance (control loop overruns and signal drops) of the computer running the hand and to specify how many seconds to run for

• Improved ROS save logs functionality by including debug symbols

• Improved ROS save logs functionality by deleting logs over 1 GB (to avoid the computer from filling up)

• Improved ROS save logs functionality (and the upload to AWS) to giving the user the option to decline uploading anything to AWS

• Added CyberGlobe calibration and tweaking plugins to rqt

Version 1.0.9

Features:

• The Docker container launches in a few seconds

Version 1.0.7

Features:

• Ability to easily upload ROS Logs to Amazon Web Services (AWS) and email them to Shadow Robot Company automatically

• PyQtGraph used for plotting back-end in rqt

Version 1.0.5

Features:

• Release of hand E software (kinetic-v1.0.5) and firmware (firmware release 3), using the new firmware release mechanism

• Ability to save ROS logs by clicking on an icon on the desktop

Version 1.0.2

• Initial version