From e17ebd8f86e8e4b0b827770ae271c3fac41c1dae Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Mon, 5 Jun 2023 15:34:38 +0200 Subject: [PATCH] Update CHANGELOG.md --- CHANGELOG.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index ada122b..b4155cb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,14 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo ## [Unreleased] +# [2.1.0] - 2023-06-05 + +### Changed + +* For consistency with the robot, now iCub simulated models publish their Force-Torque Sensors measurements via the [`multipleanalogsensorsserver`](https://www.yarp.it/latest//classMultipleAnalogSensorsServer.html) YARP device (https://github.com/robotology/icub-models/issues/198, https://github.com/robotology/icub-models-generator/pull/239, https://github.com/robotology/robots-configuration/pull/517). The `name` parameter passed to this device is: `///FT`. This means that for each part there will be a `multipleanalogsensorsserver` device that will open the following YARP ports (these YARP ports are not meant to be accessed directly, but should be accessed instead via the [`multipleanalogsensorsclient`](https://www.yarp.it/git-master/classMultipleAnalogSensorsClient.html) device): + * `///FT/measures:o` : that publishes sensors information for the part, using the structure defined in https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift + * `///FT/rpc:o` : that expose several information related to the part via a YARP RPC port + # [2.0.1] - 2023-03-31 ### Fixed