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chore: update changelog
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kmohyeldine committed Nov 13, 2024
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## UNRELEASED

Requires Franka Research 3 system version >= 5.8.0
Requires Franka Research 3 System Version >= 5.7.2

* Joint/Cartesian Pose velocity and acceleration errors are minimized.
* Joint position and cartesian pose examples can now start from the initial q or O_T_EE
* Joint position and cartesian pose low-pass filters are fixed to use the same command in the first package.
* Introduction of a general logger. A user can now add their own logger implementation for receiving log messages.
* Improved error minimization for joint/cartesian pose velocities and accelerations.
* Updated joint position and cartesian pose examples to start from the initial `q` or `O_T_EE`.
* Fixed joint position and cartesian pose low-pass filters to use the same command in the first package.
* Added a general logger, allowing users to implement custom loggers for receiving log messages.

**Important**
* The flags `fci_joint_motion_generator_position_limits_violation_flag` and `fci_cartesian_motion_generator_joint_position_limits_violation_flag` are now always set to `false` and will be deprecated in future releases. They will be replaced by `joint_position_limits_violation`.

**BREAKING**
* The previous CSV robot state logger has been renamed to `robot_state_logger` and relocated.

* **Important**: The flags `fci_joint_motion_generator_position_limits_violation_flag` and `fci_cartesian_motion_generator_joint_position_limits_violation_flag` are now always set to false and will be deprecated in future releases. They will be replaced by `joint_position_limits_violation`.
* **Breaking Change**: The former logger for the csv robot state logger was renamed to 'robot_state_logger' and was moved.

## 0.14.1 - 2024-09-06

* Added doxygen generation
* Added doxygen generation

## 0.14.0 - 2024-03-26

Requires Franka Research 3 system version >= 5.7.0

* Compute dynamic robot parameters with Pinocchio library.
* Compute dynamic robot parameters with Pinocchio library.

## 0.13.5 - 2024-09-06

* Updated doxygen generation
* Updated doxygen generation

## 0.13.4 - 2024-09-05
Requires Franka Research 3 system version >= 5.5.0

* Added package.xml for ros humble release
* Added package.xml for ros humble release

## 0.13.3 - 2024-01-18

Requires Franka Research 3 system version >= 5.5.0

* Bump libfranka-common version compatible with 5.5.0
* Delete the temporary-workaround max-path-pose deviation. Fixed in the system image.
* Bump libfranka-common version compatible with 5.5.0
* Delete the temporary-workaround max-path-pose deviation. Fixed in the system image.

## 0.13.2 - 2023-12-04

* Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for active control.
* Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for active control.


## 0.13.1 - 2023-11-30

* Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for callback based control.
* Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for callback based control.

## 0.13.0 - 2023-11-16

* Add abstract ActiveControlBase class for the ActiveControllers to implement.
* **BREAKING** Fix function naming errors in robot class.
* **BREAKING** ActiveController initializer functions return ActiveControlBase
* Add abstract ActiveControlBase class for the ActiveControllers to implement.
* **BREAKING** Fix function naming errors in robot class.
* **BREAKING** ActiveController initializer functions return ActiveControlBase

## 0.12.1 - 2023-09-20

* Fix install common/include typo
* Fix install common/include typo

## 0.12.0 - 2023-09-14

Requires Franka Research 3 system version >= 5.2.0

* **BREAKING** ActiveControl serves now as base class for ActiveTorqueControl, that implements the torque control functionality
* ActiveMotionGenerator class introduced to support external control loops for JointPositions, JointVelocities, CartesianPose and CartesianVelocities
* **BREAKING** ActiveControl serves now as base class for ActiveTorqueControl, that implements the torque control functionality
* ActiveMotionGenerator class introduced to support external control loops for JointPositions, JointVelocities, CartesianPose and CartesianVelocities

## 0.11.0 - 2023-08-16

Requires Franka Research 3 system version >= 5.2.0

* **BREAKING** Instead of using constants, velocity limits in rate-limiter are computed based on the current desired joint position.
* Allow external control loops by the introduction of the ActiveControl read-write-interface for torque-control
* **BREAKING** Instead of using constants, velocity limits in rate-limiter are computed based on the current desired joint position.
* Allow external control loops by the introduction of the ActiveControl read-write-interface for torque-control

## 0.10.0 - 2022-09-02

Requires Franka Research 3 system version >= 5.2.0

* **BREAKING** Remove getVirtualWall and setFilters commands
* **BREAKING** Disable rate-limiter by default
* **BREAKING** Adapt rate limiting values in `rate_limiting.h` for FR3 robot
* **BREAKING** Remove getVirtualWall and setFilters commands
* **BREAKING** Disable rate-limiter by default
* **BREAKING** Adapt rate limiting values in `rate_limiting.h` for FR3 robot

## 0.9.2 - 2022-08-31

Requires Panda system version >= 4.2.1

* Revert usage of `set_version_from_git` in CMakeLists.txt, using hardcoded values instead
* Revert usage of `set_version_from_git` in CMakeLists.txt, using hardcoded values instead

## 0.9.1 - 2022-08-26

Requires Panda system version >= 4.2.1

* Use orthonormalized rotations in `cartesianLowpassFilter`, `limitRate` and `cartesian_impedance_control` example
* Support building libfranka from outside the library, so the debian package name can be set externally.
* Check if GitHub remote is always in sync
* Bug fixes in `rate_limiting_tests.cpp`
* Make column names in `logToCSV` unique, separated them by state & cmd
* Improve error messages including current `RobotMode` information
* Use orthonormalized rotations in `cartesianLowpassFilter`, `limitRate` and `cartesian_impedance_control` example
* Support building libfranka from outside the library, so the debian package name can be set externally.
* Check if GitHub remote is always in sync
* Bug fixes in `rate_limiting_tests.cpp`
* Make column names in `logToCSV` unique, separated them by state & cmd
* Improve error messages including current `RobotMode` information

## 0.9.0 - 2022-03-25

Requires Panda system version >= 4.2.1

* **BREAKING** Add `O_ddP_O` base acceleration to robot state, hardcoded to `{0, 0, -9.81}`.
* **BREAKING** New `base_acceleration_initialization_timeout`, `base_acceleration_invalid_reading`
* **BREAKING** Add `O_ddP_O` base acceleration to robot state, hardcoded to `{0, 0, -9.81}`.
* **BREAKING** New `base_acceleration_initialization_timeout`, `base_acceleration_invalid_reading`
`cartesian_spline_motion_generator_violation` and
`joint_via_motion_generator_planning_joint_limit_violation` reflexes.
* Adjust network error messages. Distinguish between problems resulting from:
* Adjust network error messages. Distinguish between problems resulting from:
- a wrong network configuration. A message is shown after a timeout of 60 seconds.
- a missing FCI feature or a blocked port due to Single Point of Control. An immediate error
response is shown.
* Changed signature of `franka::Model::gravity` to use `O_ddP_O` in the robot state.
* Changed signature of `franka::Model::gravity` to use `O_ddP_O` in the robot state.

## 0.8.0 - 2020-04-29

Requires Panda system version >= 4.0.0

* **BREAKING** Change behavior of `franka::Robot::setEE`. Previously, this method would set the
* **BREAKING** Change behavior of `franka::Robot::setEE`. Previously, this method would set the
flange-to-end-effector transformation `F_T_EE`. This has been split up into two transformations:
`F_T_NE`, only settable in Desk, and `NE_T_EE`, which can be set in `libfranka` with `setEE` and
defaults to the identity transformation.
* Add `F_T_NE` and `NE_T_EE` to `franka::RobotState`.
* Add support for the cobot pump with `franka::VacuumGripper`.
* CPack: Add conflict with `ros-melodic-libfranka`.
* Fix missing include for Windows (#55).
* Add `F_T_NE` and `NE_T_EE` to `franka::RobotState`.
* Add support for the cobot pump with `franka::VacuumGripper`.
* CPack: Add conflict with `ros-melodic-libfranka`.
* Fix missing include for Windows (#55).

## 0.7.1 - 2019-07-08

Requires Panda system version >= 3.0.0

### Changed

* Fix compilation error on ARM.
* Fix compilation error on ARM.

## 0.7.0 - 2019-07-05

Requires Panda system version >= 3.0.0

### Added

* Add support for using `franka::Model` on Linux ARM and ARM64
* Add support for using `franka::Model` on Linux ARM and ARM64
(requires Panda system version >= 3.1.0).
* Add Cartesian low-pass filter in `lowpass_filter.h`.
* Add `control_tools.h` with helper functions for writing control loops.
* Add Cartesian low-pass filter in `lowpass_filter.h`.
* Add `control_tools.h` with helper functions for writing control loops.

### Changed

* **BREAKING** Rename `franka::CartesianPose::hasValidElbow()`
* **BREAKING** Rename `franka::CartesianPose::hasValidElbow()`
to `franka::CartesianPose::hasElbow()`.
* **BREAKING** Throw `std::invalid_argument` in `franka::Robot::control` if
* **BREAKING** Throw `std::invalid_argument` in `franka::Robot::control` if
NaN or infinity values are returned from a control callback.
* **BREAKING** Throw `std::invalid_argument` in low-pass filter and rate limiting
* **BREAKING** Throw `std::invalid_argument` in low-pass filter and rate limiting
functions if invalid values are given as function parameters.
* **BREAKING** Do not throw exceptions in constructors of control types anymore.
* Take arguments by value in `franka::MotionFinished`.
* Bug fixes in `communication_test.cpp`.
* Export requirements for C++ features as CMake target compile features.
* **BREAKING** Do not throw exceptions in constructors of control types anymore.
* Take arguments by value in `franka::MotionFinished`.
* Bug fixes in `communication_test.cpp`.
* Export requirements for C++ features as CMake target compile features.

## 0.6.0 - 2019-02-06

Requires Panda system version >= 3.0.0

* Added support for Ubuntu 18.04 (Bionic).
* **EXPERIMENTAL** Added support for Windows.
* Added support for using `franka::Model` on Linux and Windows x86 and x64.
* Bugfix for aborting gripper commands with `franka::Gripper::stop()`.
* Improved documentation for `franka::Robot::setCollisionBehavior`.
* Added support for Ubuntu 18.04 (Bionic).
* **EXPERIMENTAL** Added support for Windows.
* Added support for using `franka::Model` on Linux and Windows x86 and x64.
* Bugfix for aborting gripper commands with `franka::Gripper::stop()`.
* Improved documentation for `franka::Robot::setCollisionBehavior`.

## 0.5.0 - 2018-08-08

Requires Panda system version >= 1.3.0

### Motion and control interfaces

* **BREAKING** Added low-pass filter for all realtime interfaces with default cutoff frequency
* **BREAKING** Added low-pass filter for all realtime interfaces with default cutoff frequency
of 100 Hz
* **DEPRECATED** `franka::Robot::setFilters` in favor of `franka::lowpassFilter`
* Fixed description of log record entries
* **DEPRECATED** `franka::Robot::setFilters` in favor of `franka::lowpassFilter`
* Fixed description of log record entries

### Library

* Added `lowpass_filter.h` to public interface
* Added `lowpass_filter.h` to public interface

### Examples

* Added `communication_test.cpp` to evaluate network performance.
* Added `communication_test.cpp` to evaluate network performance.

## 0.4.0 - 2018-06-21

Requires Panda system version >= 1.3.0

### Motion and control interfaces

* **BREAKING** Added rate limiting of commanded values as an option in the control loop and as
* **BREAKING** Added rate limiting of commanded values as an option in the control loop and as
a helper function. Rate limiting is activated by default, this could change the behavior of
existing programs. Only works when filters (`franka::Robot::setFilters`) are deactivated.
* Added `joint_move_in_wrong_direction` error to `franka::RobotState`
* Added first and second derivatives of last commanded signals to `franka::RobotState`
* Added `joint_move_in_wrong_direction` error to `franka::RobotState`
* Added first and second derivatives of last commanded signals to `franka::RobotState`

### Library

* Added `rate_limiting.h` to public interface
* Removed unnecessary CMake script from installation
* Added `rate_limiting.h` to public interface
* Removed unnecessary CMake script from installation

## 0.3.0 - 2018-02-22

Requires Panda system version >= 1.2.0

### Motion and control interfaces

* Added optional `epsilon` parameters to `franka::Gripper::grasp`
* Added optional `epsilon` parameters to `franka::Gripper::grasp`

### Examples

* Set default collision behavior, impedances, and filter frequencies
* Removed command line parameters to simplify usage
* Fixed locking bug in `joint_impedance_control`
* Set default collision behavior, impedances, and filter frequencies
* Removed command line parameters to simplify usage
* Fixed locking bug in `joint_impedance_control`

### Library

* **BREAKING** Changed signatures and added overloads in `franka::Model`
* Added additional variables to installed CMake config
* Updated `SOVERSION` to include minor version number
* Added conflict with `ros-kinetic-libfranka` to Debian packaging
* Minor fixes and improvements for API documentation
* Fixed build errors on Clang 5.0
* Fixed test errors for Poco >= 1.8.0
* **BREAKING** Changed signatures and added overloads in `franka::Model`
* Added additional variables to installed CMake config
* Updated `SOVERSION` to include minor version number
* Added conflict with `ros-kinetic-libfranka` to Debian packaging
* Minor fixes and improvements for API documentation
* Fixed build errors on Clang 5.0
* Fixed test errors for Poco >= 1.8.0

## 0.2.0 - 2018-01-29

Requires Panda system version >= 1.1.0

### Motion and control interfaces

* Improved external torque tracking behavior.
* Fixed discontinuities in commanding orientation changes via the cartesian
* Improved external torque tracking behavior.
* Fixed discontinuities in commanding orientation changes via the cartesian
pose interface.
* Added `joint_p2p_insufficient_torque_for_planning`, `tau_j_range_violation`, and
* Added `joint_p2p_insufficient_torque_for_planning`, `tau_j_range_violation`, and
`instability_detected` errors to `franka::RobotState`
* Added `tau_J_d`, `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal`, `I_total`,
* Added `tau_J_d`, `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal`, `I_total`,
`theta` and `dtheta` to `franka::RobotState`
* Added `setFilter` command to `franka::Robot`
* Added support for commanding elbow positions for Cartesian motions.
* Added stiffness frame `K` to `franka::Model`
* **BREAKING** Replaced `p_min` and `p_max` of `franka::VirtualWallCuboid` with `object_world_size`
* Added `setFilter` command to `franka::Robot`
* Added support for commanding elbow positions for Cartesian motions.
* Added stiffness frame `K` to `franka::Model`
* **BREAKING** Replaced `p_min` and `p_max` of `franka::VirtualWallCuboid` with `object_world_size`

### Error handling

* **WARNING** Not all robot errors can be recovered using the guiding button
* **WARNING** Not all robot errors can be recovered using the guiding button
on the robot anymore. To manually recover from such errors, please use the
Franka DESK web interface.
* Added logs to `ControlException` and improved exception messages.
* Fail earlier (by throwing exception) if any of the commanded values are
* Added logs to `ControlException` and improved exception messages.
* Fail earlier (by throwing exception) if any of the commanded values are
`NaN` or `infinity`.

### Examples

* Added saturation to joint velocity, joint position, and joint impedance
* Added saturation to joint velocity, joint position, and joint impedance
examples.
* Changed examples to read initial states inside control loops (after
* Changed examples to read initial states inside control loops (after
controller switching).
* Examples first move to an initial joint position.
* Added new cartesian impedance and force control examples.
* Lowered grasping force in `grasp_object` example
* Examples first move to an initial joint position.
* Added new cartesian impedance and force control examples.
* Lowered grasping force in `grasp_object` example

### Library

* **BREAKING** New build-time dependency on Eigen3.
* Changed thread priority to the maximum allowed value.
* Prepare for the removal of the socket-init in the default constructor in
* **BREAKING** New build-time dependency on Eigen3.
* Changed thread priority to the maximum allowed value.
* Prepare for the removal of the socket-init in the default constructor in
POCO releases >= 1.8.0.
* Removed unnecessary public dependencies for libfranka.
* CI: Run linter on examples
* Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.
* Removed unnecessary public dependencies for libfranka.
* CI: Run linter on examples
* Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.

## 0.1.0 - 2017-09-15

* Initial release
* Initial release

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