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2.2.0
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@adeguet1 adeguet1 released this 21 Nov 16:41
2.2.0
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Learn about vigilant mode.

2.2.0 (2023-11-21)

  • API changes:
    • ⚠️ All topics measured_cp and setpoint_cp use PoseStamped instead of TransformStamped
    • video.md and video launch files moved to newly created dvrk_video package (still part of this repository)
  • New features:
    • Support for Si PSMs, ECM and SUJ
    • All video related files (launch and md) moved to ROS package dvrk_video to avoid build dependencies on the full dVRK stack
    • Added vcs files (replacing wstool) for dVRK 2.1, 2.2 and devel
    • Added command line options to expose more IO and PID topics
    • dvrk_console_json can locate ros-io-<arm>.json files using internal path, no need to specify the full path
    • All Python examples updated to use newly introduced crtk.ral (ROS Abstraction Layer) and crtk.check_connections
    • Added dvrk_reset_teleoperation.py to reposition MTMs and PSMs to better position between teleoperation tasks, very useful for user studies!
    • dvrk_bag_replay.py: can now replay using setpoint_jp or setpoint_cp, fixed timing, doesn't use full dvrk.psm but creates a light class using crtk.utils, record and send joint velocities for better trajectory following
  • Bug fixes:
    • Many
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