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