server_serial_link - v2.0.0 Impedance Control

:sparkles: Features

New option for impedance control class that can be used as a launch argument. For example: trajectory_tracking = Node( package = 'serial_link_action_server', executable = 'trajectory_tracking_server', name = 'trajectory_tracking_server', output = 'screen', parameters = [os.path.join(this_directory, 'config/control_parameters.yaml')], arguments = [urdf, # URDF location 'link7', # Endpoint name 'joint_command_relay', # Topic to publish joint commands to 'joint_states', # Joint state topic to subscribe to 'IMPEDANCE']

:boom: Breaking Changes

The load_control_parameters() method in the utilities.hpp / utilities.cpp file now expects a vector: parameters.jointPositionGains = node->declare_parameter<std::vector<double>>("joint_position_gains", std::vector<double>{}); parameters.jointVelocityGains = node->declare_parameter<std::vector<double>>("joint_velocity_gains", std::vector<double>{});

This is in line with version 2.0.0 of RobotLibrary.

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Published by Woolfrey 7 months ago

server_serial_link - v1.2.0 - Hold Up!

:sparkles: New Features

• New HoldConfiguration action that runs indefinite feedback control on a fixed joint configuration.
• New HoldPose action that runs indefinite feedback control on a fixed endpoint pose.
• Action servers can run velocity control, or new torque control with updates to RobotLibrary

:boom: Breaking Changes

• References to cartesian_stiffness and cartesian_damping changes to cartesian_pose_gain and cartesian_velocity_gain, respectively, to reflect changes in RobotLibrary.

:bug: Bugs

• There appears to be a bug in the TrackCartesianTrajectory action implementation where orientation will randomly (albeit infrequently) rotate by over 90 degrees. I have no idea why :sob:

Full Changelog: https://github.com/Woolfrey/serverseriallink/compare/v1.1.0...v1.2.0

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Published by Woolfrey 7 months ago

server_serial_link - v1.1.0

:spiral_notepad: Release Notes

• Added linear velocity vectors to follow_twist server using visualization_msgs
• Added wayposes & path to track_cartesian_trajectory server using visualization_msgs

What's Changed

• Update README.md by @Woolfrey in https://github.com/Woolfrey/serverseriallink/pull/22
• Updated documentation by @Woolfrey in https://github.com/Woolfrey/serverseriallink/pull/23
• Added visualization_msgs by @Woolfrey in https://github.com/Woolfrey/serverseriallink/pull/24

New Contributors

• @Woolfrey made their first contribution in https://github.com/Woolfrey/serverseriallink/pull/22

Full Changelog: https://github.com/Woolfrey/serverseriallink/compare/v1.0.0-beta...v1.1.0

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Published by Woolfrey 10 months ago

server_serial_link - First release (beta)

First release, includes the following:

Classes: - ActionServerBase - FollowTransform - FollowTwist - ModelUpdater - TrackCartesianTrajectory - TrackJointTrajectory

Nodes: - followtransformserver - followtwistserver - trajectorytrackingserver

Tested and validated (for me!) via the kukavelocitycontrol package.

Awaiting feedback before full release.

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Published by Woolfrey 11 months ago