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