merge from devel for release 1.4.0

CHANGELOG.md

@@ -1,6 +1,28 @@
 Change log
 ==========
 
+1.4.0 (2016-08-31)
+==================
+
+* API changes:
+  * Python:
+    * API uses numpy arrays for joints and PyKDL for 3D commands, no more Python arrays/lists
+    * Import as a package using `import dvrk`
+    * Added base class arm.py with common features as well as mtm.py, ecm.py, psm.py for arm specific topics
+    * Added wrappers console.py, suj.py and psm-teleop.py for corresponding ROS topics
+  * Matlab:
+    * API more closely matches Python interface
+    * Use with CAUTION, it works fine in interactive mode but in a script, Matlab tends to never call the ROS spin function and the callbacks are failing.  See more comments in the dvrk_matlab readme.md
+* Deprecated features:
+  * Message types have changed to take adavantage of Stamped data type (mostly for timestamps).  See compatibility mode in new features.
+  * dvrk_kinematics, dvrk_teleop and rqt_dvrk are now deprecated, still available in directory `deprecated`
+* New features:
+  * dvrk_robot:
+    * Added many topics to match more closely the C++ available commands (see dVRK API wiki page)
+    * Added compatibility mode to maintain old topic names and message types.  For example, `dvrk_console_json` has the option `--compatibility <value> : compatibility mode, e.g. "v1_3_0", "v1_4_0" (optional)`
+* Bug fixes:
+  * Better timestamps (cisst-ros new feature)
+
 1.3.0 (2016-01-08)
 ==================
 
@@ -10,7 +32,7 @@ Change log
   * None
 * New features:
   * Potentiometer calibration script: `dvrk_robot/scripts/dvrk_calibrate_potentiometers.py`
-  * dvrk_robot: added low level IO data colelction for pots/joints/actuators (see potentiometer calibration wiki)
+  * dvrk_robot: added low level IO data collection for pots/joints/actuators (see potentiometer calibration wiki)
   * dvrk_robot: added set_wrench topics
   * dvrk_robot: console supports kinematic simulation with RViz (optional)
 * Bug fixes:
@@ -27,8 +49,8 @@ Change log
 * Deprecated features:
   * None
 * New features:
-  * dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types 
-  * dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types 
+  * dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types
+  * dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types
 * Bug fixes:
   * fixed urdf for PSM jaw angle
   * ...

README.md

@@ -11,15 +11,14 @@ We use the catkin build tools, NOT catkin_make.  Please don't use catkin_make
 # List of Packages:
 * dvrk_robot **[maintained]** 
   * Main file to start dVRK (`dvrk_console_json`), publish & subscribe ros topics
-  * Lauch files to start RViz with geometric simulation
+  * Launch files to start RViz with geometric simulation
 * dvrk_model **[maintained]**
   * CAD models & meshes
   * RViz configs
   * Launch files
 * dvrk_python **[maintained]**
   * Python classes using ROS topics
-  * Simple API to control any dVRK arm
-  * No support for console (yet)
+  * Simple API to control any dVRK arm as well as console and teleoperation components
 * dvrk_matlab **[maintained, missing some features]**
   * Matlab classes using ROS topics
   * Requires Robotics Toolkit (2015a and above), any OS (Windows, Mac, Linux)
@@ -31,13 +30,5 @@ We use the catkin build tools, NOT catkin_make.  Please don't use catkin_make
   * kinematics model of MTM/PSM
 * dvrk_teleop  **[not maintained]**
   * dummy teleop component with a Qt GUI
-
-# How to run the code
-* **simulation:** see dvrk_teleop/README.md for details
-* **robot:** see dvrk_robot/README.md for details 
 
-# List of Branches
-* master: current stable version
-* dev\_groovy: groovy development verison
-* catkin: catkin version