1.5.0

1.5.0 (2017-11-07)

• API changes:
  • dvrk_robot:
    • Update to match new arm state machine
    • Joint commands are now using joints for kinematics only. On PSM, jaw is not the last joint anymore, it has its separate topics
    • PSM jaw and MTM gripper now use joint state to report position/velocity/effort
    • Better support for console/footpedals events
  • Python:
    • Added blocking/non blocking flag for move commands using trajectory generation
  • Matlab:
    • Added flag to send direct move commands (vs. trajectory goals)
    • Removed all callbacks since these tended to block the interpreter, now use getters to get latest value received. Getters return timestamp as well.
    • Added ecm.m, console.m and teleop_psm.m
    • Code factorization for all conversion methods
  • Models/URDF:
    • PSM now subscribes to joint state for jaw to control last joint
    • Added crude models for 5mm tools
    • Fixed some xacro warnings
• Deprecated features:
  • None
• New features:
  • dvrk_robot:
    • Teleop now has an event to track if PSM is folowing master
    • SUJ publishes joint state
    • Publishes io interval statistics
    • Added topics for cartesian impedance controller + examples
    • Support for some topics when using generic MTMs (Falcon/ForceDimension)
  • Python:
    • Added test/example programs in dvrk_python/scripts
    • Added subscribers for jacobians, set effort joint
  • Matlab:
    • Added test/example programs in dvrk_matlab/test
    • Added subscribers for jacobians, set effort joint
• Bug fixes:
  • dvrk_calibrate_potentiometers now uses arm.py