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whole-body-estimators 0.7.0 (2022-05-27)

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@traversaro traversaro released this 27 May 10:58
· 61 commits to master since this release
v0.7.0
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whole-body-estimators 0.7.0 Release Notes

Added

  • Add a steady-state Kalman filter with a null jerk model for the joint velocity and acceleration estimation in WholeBodyDynamics. (See !139).

Changed

  • Updated the yarp rpc command calibStandingWithJetsiRonCubMk1 to be calibStandingWithJetsiRonCub, in order to perform calibStanding for the models iRonCub-Mk1 and iRonCub-Mk1_1 (See !136).
  • Switched default carrier of genericSensorClient device from udp to fast_tcp to avoid delays up to 0.25 seconds when a receiver is interrupted (#145).

Fixed

  • Fixed the possibility of deadlock in detachAll method in wholebodydynamics and baseEstimatorV1. This deadlock could lead to freeze during closing of the yarprobotinterface or the Gazebo simulator if the gazebo_yarp_robotinterface plugin was used (#146).
  • Fixed YARP deprecations. (See !151)
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