From a5f4386f9fb113343f18a62c7f2a72049b166176 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Irzyk?= <108666440+pawelirh@users.noreply.github.com> Date: Fri, 29 Mar 2024 13:29:25 +0100 Subject: [PATCH] Release 2.0.0 alpha (#260) * Create changelog files * 2.0.0 --- panther/CHANGELOG.rst | 106 ++++ panther/package.xml | 2 +- panther_battery/CHANGELOG.rst | 502 ++++++++++++++++++ panther_battery/package.xml | 2 +- panther_bringup/CHANGELOG.rst | 390 ++++++++++++++ panther_bringup/package.xml | 2 +- panther_controller/CHANGELOG.rst | 278 ++++++++++ panther_controller/package.xml | 2 +- panther_description/CHANGELOG.rst | 262 +++++++++ panther_description/package.xml | 2 +- panther_gazebo/CHANGELOG.rst | 140 +++++ panther_gazebo/package.xml | 2 +- panther_gpiod/CHANGELOG.rst | 272 ++++++++++ panther_gpiod/package.xml | 2 +- panther_hardware_interfaces/CHANGELOG.rst | 617 ++++++++++++++++++++++ panther_hardware_interfaces/package.xml | 2 +- panther_lights/CHANGELOG.rst | 239 +++++++++ panther_lights/package.xml | 2 +- panther_manager/CHANGELOG.rst | 95 ++++ panther_manager/package.xml | 2 +- panther_utils/CHANGELOG.rst | 426 +++++++++++++++ panther_utils/package.xml | 2 +- 22 files changed, 3338 insertions(+), 11 deletions(-) create mode 100644 panther/CHANGELOG.rst create mode 100644 panther_battery/CHANGELOG.rst create mode 100644 panther_bringup/CHANGELOG.rst create mode 100644 panther_controller/CHANGELOG.rst create mode 100644 panther_description/CHANGELOG.rst create mode 100644 panther_gazebo/CHANGELOG.rst create mode 100644 panther_gpiod/CHANGELOG.rst create mode 100644 panther_hardware_interfaces/CHANGELOG.rst create mode 100644 panther_lights/CHANGELOG.rst create mode 100644 panther_manager/CHANGELOG.rst create mode 100644 panther_utils/CHANGELOG.rst diff --git a/panther/CHANGELOG.rst b/panther/CHANGELOG.rst new file mode 100644 index 00000000..93de6e25 --- /dev/null +++ b/panther/CHANGELOG.rst @@ -0,0 +1,106 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#232 `_ from husarion/ros2-manager-plugins + ROS 2 manager plugins +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Made fixed commit for behaviortreee | templated create service function | removed unused warnings +* Merge pull request `#251 `_ from husarion/ros2-build-depend + Hardware / Sim Dependencies +* typo +* Add dependencies to panther pkg +* Added package suggestions without tests +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Merge pull request `#227 `_ from husarion/ros2-add-mecanum-controller + Add mecanum controller +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Gazebo - fix collisions (`#225 `_) + * Fix collisions + * remove parent dir + * Clean up suggestions + * Clean up suggestions + * Undo changes + * Undo commit +* Update panther_hardware.repos +* Add mecanum controller +* remove parent dir +* Fix collisions +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* Merge pull request `#201 `_ from husarion/ros2-gazebo + Ros2 gazebo +* add imu filter and ekf +* initial sim configuration draft +* ROS 2 add panther package (`#123 `_) + * add panther package + * match package.xml standard + * Update .gitignore + Co-authored-by: Maciej Stępień + --------- + Co-authored-by: Maciej Stępień +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther/package.xml b/panther/package.xml index 3e9659fa..be496478 100644 --- a/panther/package.xml +++ b/panther/package.xml @@ -2,7 +2,7 @@ panther - 0.0.1 + 2.0.0 Meta package that contains all packages of Panther Husarion Apache License 2.0 diff --git a/panther_battery/CHANGELOG.rst b/panther_battery/CHANGELOG.rst new file mode 100644 index 00000000..78ab0604 --- /dev/null +++ b/panther_battery/CHANGELOG.rst @@ -0,0 +1,502 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_battery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Group and order improvement +* Rest of fils +* Headers + Copyright +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* fix qos (`#250 `_) +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Merge pull request `#245 `_ from husarion/ros2-fix-roboteq-battery + ROS 2 - Fix Roboteq Battery +* fix header stamp and qos +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Update readme in battery and lights after diagnostics changes (`#230 `_) + * Update readme in battery and lights after diagnostics changes + * Update panther_lights/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + --------- + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Ros2 code style fixes (`#215 `_) + * Fix style of cstdint usage in battery + * Fix style of cstdint usage in lights + * Unify handling exceptions + * Fix formatting +* Ros2 diagnostics (`#224 `_) + * Implement diagnostics in panther_battery + * Correct class diagnostic updater member name + * Order panther battery dependencies + * Add diagnostics to panther lights + * Minor diagnostics changes + * Improve messages and add broadcasting in lights + * Add broadcasting in battery node + * Add additional diagnostic in battery + * Change pointers policy + * Review changes + * Restore LogError +* Merge branch 'ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#228 `_ from husarion/ros2-update-utils + Move ros test utils to separate file and add ExpectThrowWithDescription +* move ros test utils to separate file and add ExpectThrowWithDescription +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py +* Update roboteq battery after changes in msg +* Merge pull request `#209 `_ from husarion/ros2-battery-fix-merge + fix branch merge error +* Make handling exceptions unified +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* fix branch merge error +* ROS 2 add Roboteq Battery (`#206 `_) + * add adc data reader + * add adc node and tests + * update nodes and tests + * add readings timeout + * update tests + * data reader fixes + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add adc to battery converter + * battery class + * battery params + * fix republisher node + * update adc node + * update tests + * update adc_node test + * small fixes and formating + * update headers and create battery.cpp + * use shared ptr for adc readers + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_node.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * fix + * update adc node + * update tests + * update tests + * reorganize tests + * update adc_data_reader + * add battery_publisher class + * clean up battery class + * separate headers for bat publishers + * add adc_battery subclass + * update battery publisher + * fix ADCBattery + * fix error logging + * add battery tests + * add battery_publisher test + * add single and dual battery publisher tests + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * formating and small fixes + * update readme + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add MergeBatteryPowerSupplyHealth method + * code formatting + * fix bat params order + * review fixes + * update test_utils and add test for it + * update tests + * remove unnecessary try catch + * add roboteq battery and battery node + * add roboteq battery tests + * validate driver state in roboteq_battery + * update includes + * ROS 2 adc node refactor (`#202 `_) + * update adc_data_reader + * add battery_publisher class + * clean up battery class + * separate headers for bat publishers + * add adc_battery subclass + * update battery publisher + * fix ADCBattery + * fix error logging + * add battery tests + * add battery_publisher test + * add single and dual battery publisher tests + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * formating and small fixes + * update readme + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add MergeBatteryPowerSupplyHealth method + * code formatting + * fix bat params order + * review fixes + * update test_utils and add test for it + * update tests + * remove unnecessary try catch + * update battery virtual methods + * review fixes + * small fix + * fixes again + * change MergeBatteryPowerSupplyStatus logic + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * update CmakeLists + * update README + * remove unnecessary files + * formatting + * add copyright + * update authors + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add unused param comments + * review fixes + * fix formatting + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* ROS 2 adc node (`#135 `_) + * add adc data reader + * add adc node and tests + * update nodes and tests + * add readings timeout + * update tests + * data reader fixes + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add adc to battery converter + * battery class + * battery params + * fix republisher node + * update adc node + * update tests + * update adc_node test + * small fixes and formating + * update headers and create battery.cpp + * use shared ptr for adc readers + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_node.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * fix + * update adc node + * update tests + * update tests + * reorganize tests + * ROS 2 adc node refactor (`#202 `_) + * update adc_data_reader + * add battery_publisher class + * clean up battery class + * separate headers for bat publishers + * add adc_battery subclass + * update battery publisher + * fix ADCBattery + * fix error logging + * add battery tests + * add battery_publisher test + * add single and dual battery publisher tests + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * formating and small fixes + * update readme + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add MergeBatteryPowerSupplyHealth method + * code formatting + * fix bat params order + * review fixes + * update test_utils and add test for it + * update tests + * remove unnecessary try catch + * update battery virtual methods + * review fixes + * small fix + * fixes again + * change MergeBatteryPowerSupplyStatus logic + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* review fixes +* review fixes +* Fix battery type from li-pol to li-ion (`#138 `_) +* Baterry capacity unmeasured to nan (`#136 `_) + * Baterry capacity unmeasured to nan + * Update tests + * Remove bat_capacity\_ param +* fix current for roboteq republisher (`#133 `_) +* ROS 2 panther battery package (`#128 `_) + * add panther_battery package + * update roboteq_republisher_node + * small fixes + * add moving average + * small fixes + * update launch + * add republisher test + * update tests + * add test utils + * small fixes + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * update tests + * another test update + * review fixes + * add README + * small fixes + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_battery/package.xml b/panther_battery/package.xml index ec365812..340d04aa 100644 --- a/panther_battery/package.xml +++ b/panther_battery/package.xml @@ -2,7 +2,7 @@ panther_battery - 0.0.1 + 2.0.0 Nodes monitoring the battery state of Husarion Panhter robot Husarion Apache License 2.0 diff --git a/panther_bringup/CHANGELOG.rst b/panther_bringup/CHANGELOG.rst new file mode 100644 index 00000000..827c98a6 --- /dev/null +++ b/panther_bringup/CHANGELOG.rst @@ -0,0 +1,390 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_bringup +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Headers + Copyright +* Merge pull request `#246 `_ from husarion/ros2-panther-manager + ROS 2 panther_manager +* Add launch behavior +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#240 `_ from husarion/ekf_optimalization + Ekf optimalization +* fix +* Add initial ekf setting +* Update panther_bringup/config/ekf.yaml +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#251 `_ from husarion/ros2-build-depend + Hardware / Sim Dependencies +* Update panther_bringup/launch/bringup.launch.py +* FindPackageShare +* Update panther_bringup/package.xml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* HW/SIM Dependencies +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Ros2 lights controller (`#241 `_) + * ROS 2 lights animations (`#221 `_) + * add animation and image_animation class + * controller node and pluginlib + * add tests and fix issues + * add animation images + * add alpha channel + * add charging animation with tests + * update dummy controller + * fix missing includes + * add missing dep + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * review changes + * update tests + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * ROS 2 lights converter (`#223 `_) + * add led_segment + * WIP led_panel and segment converter + * simplify converter + * update segment conversion + * add test for led panel, segment, and converter + * review fixes + * update copyright year + * update controller so it somehow works + * Update tests + * Apply review fixes + * fix gpio tests + * parse controller configuration + * add default animation + * add yaml_utils to panther_utils + * add led animation and queue + * Fix queuing + * fix bug + * priority and timeout queue validation + * move queue to separate file + * add briefs + * param and brightness handle + * user animations, bugs, briefs + * use yaml utils + * fix tests + * update tests + * add led_animation test + * test fixxes + * add led animations queue tests + * clean up code | clean up code + * Update documentation | add launching controller node + * make it work + * update scheduler + * Update panther_lights/LIGHTS_API.md + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + * review fixes + * update pre-commit and fix typos + * Update panther_bringup/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_hardware_interfaces/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/test/test_controller_node.cpp + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * review fixes + * Update README.md + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> +* EKF config +* Merge pull request `#235 `_ from husarion/ros2-dependencies + Fix dependencies +* Ros2 diagnostics hardware interfaces (`#231 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * Initialize diagnostic updater + * Update docs + * fix io_state topic + * fix service warappers + * small fix + * Add missing dependencies + * Implement diagnostics tasks + * Add header file to panther_system + * Add get map methods + * Add utilities and tests + * Fix mistaken removal + * Fix method order + * Update panther_hardware_interfaces/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/common_utilities.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/diagnostics.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_common_utilities.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_diagnostics.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Add additional test in test_diagnostics + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Maciej Stępień + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Decrease bringup time +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Add GPIO controller (`#222 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * fix io_state topic + * fix service warappers + * small fix + * rewiew fixes + * add briefs in gpio_controler + * review fixes + * small fix + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Add IMU noise + basic EKF configuration (`#229 `_) + * Fix collisions + * remove parent dir + * Add IMU noise + * EKF working + * Add controller + * Update panther_bringup/config/ekf.yaml + * Update panther_bringup/config/ekf.yaml + * Format +* Merge branch 'ros2-devel' into ros2-control-pdo-commands + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Manuall merge of ros2-prealpha to ros2-dev (`#218 `_) + * manually merge prealpha with ros2-dev + * typo and formatting + * change locks and simplify code + * add missing library + * fix build +* Remove todos +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* ROS 2 ekf update (`#214 `_) + * update ekf config + * add ekf launch arguments + * add README + * Update panther_bringup/README.md + Co-authored-by: Maciej Stępień + * Update panther_bringup/README.md + Co-authored-by: Maciej Stępień + * Update panther_bringup/README.md + Co-authored-by: Maciej Stępień + --------- + Co-authored-by: Maciej Stępień +* Fix imu launch +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py +* Fix launches +* Merge pull request `#212 `_ from husarion/ros2-imu-node + ROS 2 imu node +* review fixes +* fix launch +* update imu config +* add use_sim condition +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* add launching imu nodes +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* Merge pull request `#201 `_ from husarion/ros2-gazebo + Ros2 gazebo +* review fixes +* add puslish_robot_state param in all files +* rename ekf node +* review fixes +* Update panther_bringup/launch/bringup.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_bringup/launch/bringup.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_bringup/launch/bringup.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_bringup/config/ekf.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* fix controller and ekf covariance +* fix ekf +* grammar fixes +* grammar fixes +* add battery plugin +* add wheel params in launches +* add imu filter and ekf +* initial sim configuration draft +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_bringup/package.xml b/panther_bringup/package.xml index b6f2d68b..7db487e2 100644 --- a/panther_bringup/package.xml +++ b/panther_bringup/package.xml @@ -2,7 +2,7 @@ panther_bringup - 0.0.1 + 2.0.0 Default launch files and configuration used to start Husarion Panther robot Husarion Apache License 2.0 diff --git a/panther_controller/CHANGELOG.rst b/panther_controller/CHANGELOG.rst new file mode 100644 index 00000000..c0f0eae1 --- /dev/null +++ b/panther_controller/CHANGELOG.rst @@ -0,0 +1,278 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_controller +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Headers + Copyright +* Merge pull request `#246 `_ from husarion/ros2-panther-manager + ROS 2 panther_manager +* Add launch behavior +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#240 `_ from husarion/ekf_optimalization + Ekf optimalization +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Update panther_controller/config/WH04_controller.yaml +* Update panther_controller/config/WH04_controller.yaml +* Add comments +* update covariances +* Merge pull request `#251 `_ from husarion/ros2-build-depend + Hardware / Sim Dependencies +* Add Readme +* Add Readme +* HW/SIM Dependencies +* Changed controllers spawn timeout to 10 (`#248 `_) +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Update covariance +* Merge pull request `#235 `_ from husarion/ros2-dependencies + Fix dependencies +* Update panther_controller/package.xml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Fix dependency +* Merge pull request `#227 `_ from husarion/ros2-add-mecanum-controller + Add mecanum controller +* update +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Add GPIO controller (`#222 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * fix io_state topic + * fix service warappers + * small fix + * rewiew fixes + * add briefs in gpio_controler + * review fixes + * small fix + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Add IMU noise + basic EKF configuration (`#229 `_) + * Fix collisions + * remove parent dir + * Add IMU noise + * EKF working + * Add controller + * Update panther_bringup/config/ekf.yaml + * Update panther_bringup/config/ekf.yaml + * Format +* update +* update +* update +* clean +* Add mecanum controller +* Merge pull request `#219 `_ from husarion/ros2-control-pdo-commands + ros2_control PDO commands +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml + panther_description/urdf/panther_macro.urdf.xacro + panther_hardware_interfaces/CMakeLists.txt + panther_hardware_interfaces/CODE_STRUCTURE.md + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/canopen_controller.cpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/panther_system_ros_interface.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control-pdo-commands + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Manuall merge of ros2-prealpha to ros2-dev (`#218 `_) + * manually merge prealpha with ros2-dev + * typo and formatting + * change locks and simplify code + * add missing library + * fix build +* CR suggestions +* CR suggestions - remove effort controller +* Remove todos +* Update controllers config +* Change to 100Hz and increase allowed number of errors +* Change frequency to 125hz +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py +* Fix launches +* fix controller launch +* Add odom topic remap +* Update todo comments +* Change controller frequency to 50hz +* Fix update rates in controllers +* Merge pull request `#212 `_ from husarion/ros2-imu-node + ROS 2 imu node +* Update controller configs +* add use_sim condition +* read imu position from env +* Precommit changes +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* Add comment to controller +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* Merge pull request `#201 `_ from husarion/ros2-gazebo + Ros2 gazebo +* review fixes +* add puslish_robot_state param in all files +* add new launch params +* review fixes +* Update panther_controller/package.xml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/launch/controller.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/launch/controller.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/launch/controller.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/config/WH04_controller.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/config/WH02_controller.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/config/WH02_controller.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/config/WH02_controller.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_controller/config/WH02_controller.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* fix controller and ekf covariance +* fix deps +* grammar fixes +* add battery plugin +* add wheel params in launches +* add imu filter and ekf +* initial sim configuration draft +* Add ros2 control +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_controller/package.xml b/panther_controller/package.xml index bb62cbe8..108f7ef6 100644 --- a/panther_controller/package.xml +++ b/panther_controller/package.xml @@ -2,7 +2,7 @@ panther_controller - 0.0.1 + 2.0.0 ros2 controllers configuration for Panther Husarion Apache License 2.0 diff --git a/panther_description/CHANGELOG.rst b/panther_description/CHANGELOG.rst new file mode 100644 index 00000000..fb050fc1 --- /dev/null +++ b/panther_description/CHANGELOG.rst @@ -0,0 +1,262 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#240 `_ from husarion/ekf_optimalization + Ekf optimalization +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Add comments +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* update params (`#243 `_) +* fix imu topic +* fix controller topic +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Add GPIO controller (`#222 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * fix io_state topic + * fix service warappers + * small fix + * rewiew fixes + * add briefs in gpio_controler + * review fixes + * small fix + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Add IMU noise + basic EKF configuration (`#229 `_) + * Fix collisions + * remove parent dir + * Add IMU noise + * EKF working + * Add controller + * Update panther_bringup/config/ekf.yaml + * Update panther_bringup/config/ekf.yaml + * Format +* Merge branch 'ros2-devel' into ros2-add-mecanum-controller +* Gazebo - fix collisions (`#225 `_) + * Fix collisions + * remove parent dir + * Clean up suggestions + * Clean up suggestions + * Undo changes + * Undo commit +* Fix collisions +* Merge pull request `#219 `_ from husarion/ros2-control-pdo-commands + ros2_control PDO commands +* CR suggestions +* Fix comment in the urdf +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml + panther_description/urdf/panther_macro.urdf.xacro + panther_hardware_interfaces/CMakeLists.txt + panther_hardware_interfaces/CODE_STRUCTURE.md + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/canopen_controller.cpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/panther_system_ros_interface.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control-pdo-commands + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* CR suggestions - add ms to timeouts +* Manuall merge of ros2-prealpha to ros2-dev (`#218 `_) + * manually merge prealpha with ros2-dev + * typo and formatting + * change locks and simplify code + * add missing library + * fix build +* Update communication parameters +* Change to 100Hz and increase allowed number of errors +* Update documentation +* Change frequency to 125hz +* Add configurable driver states update frequency +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Update whole system to use new pdo communication and add proper timeouts +* Move can interface name to parameter +* Change controller frequency to 50hz +* Fix roboteq naming +* Precommit changes +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* Fix urdf +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* [WIP] Refactor panther system +* Refactor can controller +* Increase max pdo errors count +* Increase initialization/activation attempts +* Move timeouts and attempts to parameters +* Merge pull request `#203 `_ from husarion/ros2-ign-add-gps + Update external_antenna.urdf.xacro +* Update external_antenna.urdf.xacro +* Merge pull request `#201 `_ from husarion/ros2-gazebo + Ros2 gazebo +* rename ekf node +* small fixes +* add new launch params +* review fixes +* Update panther_description/urdf/panther_macro.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/urdf/panther_macro.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/urdf/components/external_antenna.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/urdf/body.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/package.xml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/urdf/panther_macro.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/urdf/panther_macro.urdf.xacro + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_description/CMakeLists.txt + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* fix ekf +* add mesh path parsing +* grammar fixes +* add battery plugin +* add wheel params in launches +* add imu filter and ekf +* initial sim configuration draft +* Read single sdo value every read cycle +* Add reading other roboteq driver feedback +* Remove torque control code +* Add ros2 control +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Kowalski, rafal-gorecki diff --git a/panther_description/package.xml b/panther_description/package.xml index fbe7e84c..590ca76a 100644 --- a/panther_description/package.xml +++ b/panther_description/package.xml @@ -2,7 +2,7 @@ panther_description - 0.0.1 + 2.0.0 The panther_description package Husarion Apache License 2.0 diff --git a/panther_gazebo/CHANGELOG.rst b/panther_gazebo/CHANGELOG.rst new file mode 100644 index 00000000..67fd0118 --- /dev/null +++ b/panther_gazebo/CHANGELOG.rst @@ -0,0 +1,140 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Headers + Copyright +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge pull request `#252 `_ from husarion/ros2-depend-patch + Dependency simulation fix +* Dependency simulation fix +* Merge pull request `#251 `_ from husarion/ros2-build-depend + Hardware / Sim Dependencies +* Use FindPackageShare +* reverted panther_gazebo +* Added TickAfterTimeout +* Revert "added test for single host plugin" + This reverts commit a4f9051c8dfcf03cefa4f827904126fb50c0b316. +* added test for single host plugin +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Gazebo - fix collisions (`#225 `_) + * Fix collisions + * remove parent dir + * Clean up suggestions + * Clean up suggestions + * Undo changes + * Undo commit +* added behaviortree_ros2 to the repository because it is not in rosped +* Fix collisions +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* Add panther_gazebo launch params docs (`#204 `_) + * add params docs + * small fixes + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update README.md + * Update README.md + * Update panther_gazebo/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + --------- + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Merge pull request `#201 `_ from husarion/ros2-gazebo + Ros2 gazebo +* review fixes +* add puslish_robot_state param in all files +* add new launch params +* review fixes +* Update panther_gazebo/launch/simulation.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_gazebo/package.xml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_gazebo/config/battery_plugin.yaml + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_gazebo/launch/simulation.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_gazebo/launch/simulation.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Update panther_gazebo/launch/simulation.launch.py + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* fix ekf +* fix deps +* grammar fixes +* add battery plugin +* add wheel params in launches +* initial sim configuration draft +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_gazebo/package.xml b/panther_gazebo/package.xml index 96b706c5..52d933a9 100644 --- a/panther_gazebo/package.xml +++ b/panther_gazebo/package.xml @@ -2,7 +2,7 @@ panther_gazebo - 0.0.1 + 2.0.0 The panther_description package Husarion Apache License 2.0 diff --git a/panther_gpiod/CHANGELOG.rst b/panther_gpiod/CHANGELOG.rst new file mode 100644 index 00000000..aa8ecbf3 --- /dev/null +++ b/panther_gpiod/CHANGELOG.rst @@ -0,0 +1,272 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_gpiod +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Rest of fils +* Headers + Copyright +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* undo test remove (`#244 `_) +* Ros2 lights controller (`#241 `_) + * ROS 2 lights animations (`#221 `_) + * add animation and image_animation class + * controller node and pluginlib + * add tests and fix issues + * add animation images + * add alpha channel + * add charging animation with tests + * update dummy controller + * fix missing includes + * add missing dep + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * review changes + * update tests + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * ROS 2 lights converter (`#223 `_) + * add led_segment + * WIP led_panel and segment converter + * simplify converter + * update segment conversion + * add test for led panel, segment, and converter + * review fixes + * update copyright year + * update controller so it somehow works + * Update tests + * Apply review fixes + * fix gpio tests + * parse controller configuration + * add default animation + * add yaml_utils to panther_utils + * add led animation and queue + * Fix queuing + * fix bug + * priority and timeout queue validation + * move queue to separate file + * add briefs + * param and brightness handle + * user animations, bugs, briefs + * use yaml utils + * fix tests + * update tests + * add led_animation test + * test fixxes + * add led animations queue tests + * clean up code | clean up code + * Update documentation | add launching controller node + * make it work + * update scheduler + * Update panther_lights/LIGHTS_API.md + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + * review fixes + * update pre-commit and fix typos + * Update panther_bringup/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_hardware_interfaces/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/test/test_controller_node.cpp + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * review fixes + * Update README.md + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> +* ROS 2 control liblely instalation (`#239 `_) + * install liblely with cmake + * simplify instalation + * fix condition + * add super build + * libgpiod super build + * remove obsolate info + * add missing PKG_CONFIG_PATH +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Fix IsPinAvailable calls +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Add GPIO controller (`#222 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * fix io_state topic + * fix service warappers + * small fix + * rewiew fixes + * add briefs in gpio_controler + * review fixes + * small fix + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Ros2 code style fixes (`#215 `_) + * Fix style of cstdint usage in battery + * Fix style of cstdint usage in lights + * Unify handling exceptions + * Fix formatting +* Merge branch 'ros2-devel' into ros2-add-mecanum-controller +* Ros2 - Add GPIO Tests (`#220 `_) + * initial aproach + * Update README.md + * fix typo + * Resolve GPIOMonitor thread blocking issue + * add tests + * fix typo + * update readme + * fix cmake + * small fixes + * Update panther_gpiod/test/test_gpiod.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * add missing tests + * review fixes + * review fixes + * fix package.xml + --------- + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml + panther_description/urdf/panther_macro.urdf.xacro + panther_hardware_interfaces/CMakeLists.txt + panther_hardware_interfaces/CODE_STRUCTURE.md + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/canopen_controller.cpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/panther_system_ros_interface.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control-pdo-commands + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* CR suggestions - move configureRT to panther_utils +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Manuall merge of ros2-prealpha to ros2-dev (`#218 `_) + * manually merge prealpha with ros2-dev + * typo and formatting + * change locks and simplify code + * add missing library + * fix build +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py +* ROS 2 - Add GPIO driver package (`#211 `_) + * driver draft + * refactor and briefs + * unique_lock small fixes + * fix typo + * Update panther_gpiod/include/panther_gpiod/gpio_driver.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_gpiod/src/gpio_driver.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * remove bias from GPIOInfo + * add rt config + * change thread priority + * add REDME + * fix typo + * small fixes + * fix rt cofig handle || update pins release + * review fixes + * almost there, closer than ever before + * fix typo + * brief update + * add enable_gpio_monitoring param + * review fixes + * small fix + * add condition_variable + * add GPIOMonitorEnable() + * update brief + * Update panther_gpiod/src/gpio_driver.cpp + Co-authored-by: Maciej Stępień + * Update panther_gpiod/src/gpio_driver.cpp + Co-authored-by: Maciej Stępień + * Update README.md + * Very small update + --------- + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + Co-authored-by: Maciej Stępień +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_gpiod/package.xml b/panther_gpiod/package.xml index 43f4dfd8..5a1926b7 100644 --- a/panther_gpiod/package.xml +++ b/panther_gpiod/package.xml @@ -2,7 +2,7 @@ panther_gpiod - 0.0.1 + 2.0.0 libgpiod wrapper for Panther Husarion Apache License 2.0 diff --git a/panther_hardware_interfaces/CHANGELOG.rst b/panther_hardware_interfaces/CHANGELOG.rst new file mode 100644 index 00000000..7ded869e --- /dev/null +++ b/panther_hardware_interfaces/CHANGELOG.rst @@ -0,0 +1,617 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_hardware_interfaces +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Merge pull request `#258 `_ from husarion/ros2-control-fix-err-flag-reset + ROS 2- Fix Error Clearing Mechanism for Roboteq Controllers +* fixes for pth 1.06 +* update brief +* move PDO operations to wrapper function +* fix clearing errors +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Group and order improvement +* ROS 2 - Add GPIOController Tests (`#247 `_) + * undo test remove + * move GPIOController to another branch :p + * add GPIOController tests + * review fixes + * small fixes + * fix formatting +* Ros2 control add tests (`#253 `_) + * undo test remove + * move GPIOController to another branch :p + * fix build and typos + * Fix test naming + * fix tests + * clean up code + * fix includes + --------- + Co-authored-by: Paweł Kowalski +* Rest of fils +* Headers + Copyright +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#254 `_ from husarion/ros2-liblely-disable-debug-logs + ROS 2 disable liblely debug logs +* Define `NDEBUG` macro +* ROS 2 - Fix estop threads (`#249 `_) + * fix header stamp and qos + * add MultiThreadedExecutor + * Add compatibility with PTH 1.06 + * small fixes + * review fixes + * Disable CAN usage for EStop trigger on PTH >= 1.2" + * fix typo +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* fix qos (`#250 `_) +* Merge pull request `#240 `_ from husarion/ekf_optimalization + Ekf optimalization +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Change relative to abs speed frame +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* update params (`#243 `_) +* Merge pull request `#245 `_ from husarion/ros2-fix-roboteq-battery + ROS 2 - Fix Roboteq Battery +* fix header stamp and qos +* Ros2 lights controller (`#241 `_) + * ROS 2 lights animations (`#221 `_) + * add animation and image_animation class + * controller node and pluginlib + * add tests and fix issues + * add animation images + * add alpha channel + * add charging animation with tests + * update dummy controller + * fix missing includes + * add missing dep + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * review changes + * update tests + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * ROS 2 lights converter (`#223 `_) + * add led_segment + * WIP led_panel and segment converter + * simplify converter + * update segment conversion + * add test for led panel, segment, and converter + * review fixes + * update copyright year + * update controller so it somehow works + * Update tests + * Apply review fixes + * fix gpio tests + * parse controller configuration + * add default animation + * add yaml_utils to panther_utils + * add led animation and queue + * Fix queuing + * fix bug + * priority and timeout queue validation + * move queue to separate file + * add briefs + * param and brightness handle + * user animations, bugs, briefs + * use yaml utils + * fix tests + * update tests + * add led_animation test + * test fixxes + * add led animations queue tests + * clean up code | clean up code + * Update documentation | add launching controller node + * make it work + * update scheduler + * Update panther_lights/LIGHTS_API.md + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + * review fixes + * update pre-commit and fix typos + * Update panther_bringup/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_hardware_interfaces/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/test/test_controller_node.cpp + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * review fixes + * Update README.md + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> +* Merge pull request `#242 `_ from husarion/ros2-fix-pointers-loop + ROS2 - Fix Pointer Cyclic Dependencies +* fix pointer cyclic dependencies +* ROS2 - Fix Power Motor Service (`#238 `_) + * add new functionality + * review fixes +* ROS 2 control liblely instalation (`#239 `_) + * install liblely with cmake + * simplify instalation + * fix condition + * add super build + * libgpiod super build + * remove obsolate info + * add missing PKG_CONFIG_PATH +* Ros2 diagnostics hardware interfaces (`#231 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * Initialize diagnostic updater + * Update docs + * fix io_state topic + * fix service warappers + * small fix + * Add missing dependencies + * Implement diagnostics tasks + * Add header file to panther_system + * Add get map methods + * Add utilities and tests + * Fix mistaken removal + * Fix method order + * Update panther_hardware_interfaces/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/common_utilities.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/diagnostics.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_common_utilities.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_diagnostics.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Add additional test in test_diagnostics + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Maciej Stępień + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Merge pull request `#233 `_ from husarion/ros2-update-service-wrapper + ROS 2 - Update Service Wrapper +* review fixes +* update service wrapper +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Temporarily remove tests + tests were moved to ros2-control-add-tests branch and should be merged after additional review process +* Add GPIO controller (`#222 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * fix io_state topic + * fix service warappers + * small fix + * rewiew fixes + * add briefs in gpio_controler + * review fixes + * small fix + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Merge pull request `#219 `_ from husarion/ros2-control-pdo-commands + ros2_control PDO commands +* Refactor tests +* CR suggestions - use future in roboteq driver boot +* CR suggestions - change to lock guard and fix locking range +* CR suggestions - move roboteq mock methods implementation +* CR suggestions - move flags reading to a separate variable +* CR suggestions - update readme +* CR suggestions - readme fixes +* Refactor panther system +* CR suggestions +* Remove old todo comment +* Update coment +* Add std to int types +* Update tests +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml + panther_description/urdf/panther_macro.urdf.xacro + panther_hardware_interfaces/CMakeLists.txt + panther_hardware_interfaces/CODE_STRUCTURE.md + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/canopen_controller.cpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/panther_system_ros_interface.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* CR suggestions - add default FlagError destructor +* CR suggestions - update error msg and refactor checksafetystop method +* CR suggestions - fix consts +* CR suggestions - add exception msg in service +* CR suggestions - fix includes in motor controller +* CR suggestions - update roboteq driver briefs +* CR suggestions - move configureRT to panther_utils +* CR suggestion - create roboteq error filter cpp file for implementations +* CR suggestion - move longer methods to cpp file +* CR suggestions - add package links in readme +* CR suggestions - add tags to readme +* CR suggestions - add more thorough checking of joint names +* CR suggestions - add node name and options parameters +* Move initialization and activation of ros interface to constructor (and destructor) +* Add checking initialization state in canopen and motor controllers +* CR suggestions - make RoboteqCANObjects static +* CR suggestions +* CR suggestion - fix CAN, PDO, SDO, CANopen names +* CR suggestions - add ms to timeouts +* CR suggestions +* Add checking if joint name doesn't contain any reserved sequences (fl fr rr rl) +* Remove unnecessary string literals +* Update roboteq error filter +* CR suggestions +* Move ids and subids of canopen objects into seperate struct +* Update communication parameters +* Update readme +* CR suggestions - fix includes +* Remove todos +* Remove comment and todos +* Remove additional timeout in sdo operations +* Use sdo operation timeout parameter +* Fix naming and update documentation +* Update documentation +* Update ignored runtime errors +* Update volts amps and battery names +* Update log messages +* Change return failure to error (in this cases on_error method should be triggered) +* Fix destroying canopen controller +* Update PDO driver state timeout log +* Switch to loop driver (better performance) +* Fix destroying objects +* Fix spinning in panther system ros interface +* Add configurable driver states update frequency +* Rename eds file +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Remove old gpio driver and temporarily comment out tests +* Update whole system to use new pdo communication and add proper timeouts +* Add heatsink temperature +* New pdo configuration +* CR suggestions - use bitset in flag errors +* Change setting init value of flags to just 0 +* Fix constant name +* CR suggestions - getbyte as template +* CR suggestions - consts in overridden methods +* CR suggestions - add const to submit write +* CR suggestions - variable name change +* CR suggestions - any of and auto +* CR suggestions - std array +* CR suggestions - change constructor parameter types +* Move additional wait to constant member +* Move can interface name to parameter +* CR suggestions - rename canopen configuration file +* CR suggestions - cstdint types +* Change reading driver state to pdo and update pdo remapping +* Add missing dependencies +* CR suggestions +* Change commands to pdos, update sdo operations and update reading pdos +* Update eds to fw21a and change it to match new sent data +* Update todo comments +* Add warning about safety critical parameters +* Refactor panther system test utils +* Move code structure to separate file +* Refactor setting surpressed flags +* Add set bit utility function +* Decrease wait timeout +* Refactor error filter ids +* Add comment about sdo operation deadlock +* Add comment about can loop error +* Refactor update error msg +* Update todos +* Move service name to constants +* Refactor test_update_system_pdo_feedback_timeout +* Move topic name to constants +* Use WaitForMsg from panther utils +* Add boot timeout test +* Update msgs in boot exceptions +* Add first channel check in safety stop test +* Refactor motor controller state msg - remove joint name and move runtime error +* Update todos +* Refactor updatemsgerrors method +* Refactor locks usage +* Move can error flag to MotorControllerState +* Use wait for msg function from panther utils +* Add plugin name constant +* Refactor test constants naming +* Move settings to constants +* Remove comment +* Fix lock naming +* Add timeout when waiting for boot +* Refactor error filters +* Move setting safetystop, so that it can be set faster in the write function +* Refactor tests +* Fix types and casting in tests +* Remove comments +* Change types from double to float +* Refactor panther system logging and fix throttling +* Grammar fixes +* Refactor tests - add namespace and fix roboteq mock file name +* Refactor test utils +* Refactor - rename panther wheels controller to motors controller and fix order of methods/variables +* Remove comments from roboteq driver +* Refactor - fix include guards +* Refactor - rename variables +* Remove unused variable +* Refactor - change panther system node name to ros interface +* Refactor - fix naming +* Fix roboteq naming +* Make handling exceptions unified +* Update readme +* Refactor tests +* Use typename in templates +* Refactor roboteq driver +* Refactor roboteq driver - separate channel operations +* Precommit changes +* Remove wait in initialization +* Move OperationWithAttempts and add tests +* Fix panther system onerror test +* Add panther system onerror test +* Move setup/teardown to constructor/destructor +* Add wrong order urdf test +* Update comments +* Fix roboteq driver tests +* Add pdo and read sdo timeout tests +* Use atomic_bool type alias +* [WIP] Refactor panther system tests +* Add sdo timeout test and refactor tests +* Refactor and add tests for utils +* [WIP] Update roboteq driver comments +* Add briefs to data converters +* Refactor panther wheels controller +* [WIP] Refactor panther system +* Refactor system node and add tests +* Refactor panther system node and add documentation +* Refactor canopen controller +* Refactor panther system node +* Move panther system node to new files +* [WIP] Refactor panther system +* [WIP] Refactor panther system - move node functionalities to separate class +* [WIP] Refactor panther system +* Refactor error filter +* Refactor can controller +* Add flags and timestamps tests to roboteq driver tests +* [WIP] Add wheels controller tests +* [WIP] Add roboteq driver tests +* Add can controller test +* Update setting wait in roboteq mock +* Refactor - create can_controller class +* Seperate boot errors handling +* Remove old todos +* Remove unnecessary headers +* Update data converters + refactor + fix voltage calculation +* Add data converters test +* Add parameter description to readme +* [WIP] Update readme +* Fix edge case when multiple sdo operations are queued +* [WIP] Fix system error +* Add operation attempts method +* Remove turn off estop in activation (no longer needed) +* Fix clearing errors +* Add comment +* Change unnecessary uint8_t types +* Make clearing errors multi thread safe +* Fix turn on safety stop +* Add safety stop attempts, fix counter types, fix updating pdo error +* Add safety stop +* Add clear errors service +* Use ptrs from rclcpp +* Fix urdf in tests +* Fix initialization and activation attempts +* Move timeouts and attempts to parameters +* Add old data info to state msg +* Add error log about roboteq errors and refactor flag errors +* Move feedback timeout to parameter +* Fix unique/shared ptrs +* Change default c++ version to 17 +* Add more roboteq intialization/activation attempts +* Refactor error handler and add tests +* Add todos +* Increase can thread priority +* Rename methods +* Separate SDO and PDO errors +* Add test urdf with changed order +* Comment out timeout test +* Add todos +* Refactor panther system + add error handler and move code to separate functions +* Add hardware interface readme +* Add sdo write timeout test +* Fix setting error and add error to msg +* Add more error handling in initialization +* Update timeouts +* Add sdo read and write error counts (allow some failures before escalating) +* Update feedback timeout +* Fix channel order in tests +* Fix motor order +* Increase sdo timeout +* Update hardware interfaces test readme +* Fix temperature type +* Update initial procedure test +* Update test slave bin (change heartbeat and eds) +* Fix eds version + some other version than for firmware 2.1 was used +* Remove comment +* Rename variable +* Remove not used stuff +* Rename data converters +* Read single sdo value every read cycle +* Refactor data conversion +* Remove visibility control (windows is not supported) +* Update encoder disconnected test +* Refactor - move feedback converters, proper error handling +* Rename tests file +* Refactor tests +* Refactor tests - add setup and teardown +* Add waiting for mock start in tests +* [WIP] Refactor tests +* Add initial procedure test +* Add reading roboteq feedback test +* Fix calculating current +* Add encoder disconnected test +* Change function name +* Add reading test +* Add writing test +* Add deactivate unconfigure test +* Remove using namespace lely +* Change io guard to local variable +* Fix deinitialization of panther wheels controller +* Fix memory problems in roboteq mock +* [WIP] Add roboteq mock tests +* Refactor roboteq mock +* Fix temp sdo data type +* Add mock slave configuration +* Add roboteq mock for tests +* Add checking state in test +* Fix handling executor in hardware system +* Add can executor thread join on deinitialize +* Remove unnecessary thread include +* Add panther load system test +* Remove comments +* Rename joint size variable and check if hardware parameters were defined +* Add information when RT can thread is used +* Add safety stop +* Rename and adjust feedback timeout +* Add handling error when reseting roboteq script +* Add turning off estop on activation +* Add triggering estop to on_error +* Add wait timeout +* Fix building +* Update sched priority of can node +* Add reading other roboteq driver feedback +* Refactor checking flags +* Refactor types +* Update sdo communication +* Add comments +* Refactor handling commands and states +* Remove torque control code +* Add todo comments +* Fix handling error flags +* Move roboteq cmd and feedback conversion to roboteq driver +* Add default value +* Add wait for boot and fix handling can exceptions +* Add comments +* Update error handling +* Fix hardware interface +* Add error handling +* [WIP] Refactor +* Refactor +* Fix build +* Add eds config +* Add ros2 control +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, Paweł Kowalski, pawelirh, rafal-gorecki diff --git a/panther_hardware_interfaces/package.xml b/panther_hardware_interfaces/package.xml index c37502eb..24926888 100644 --- a/panther_hardware_interfaces/package.xml +++ b/panther_hardware_interfaces/package.xml @@ -2,7 +2,7 @@ panther_hardware_interfaces - 0.0.1 + 2.0.0 Hardware controller for Panther Husarion Apache License 2.0 diff --git a/panther_lights/CHANGELOG.rst b/panther_lights/CHANGELOG.rst new file mode 100644 index 00000000..1d4a12f3 --- /dev/null +++ b/panther_lights/CHANGELOG.rst @@ -0,0 +1,239 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_lights +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* few more +* Group and order improvement +* Rest of fils +* Headers + Copyright +* Merge pull request `#234 `_ from husarion/ros2-lights-tests + ROS 2 lights tests +* Merge pull request `#246 `_ from husarion/ros2-panther-manager + ROS 2 panther_manager +* Merge pull request `#232 `_ from husarion/ros2-manager-plugins + ROS 2 manager plugins +* Clean up +* Add Dawid suggestions +* fix +* Comment +* Test Pass +* Add launch behavior +* Clean up +* Rename +* Almost passing +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Rename topics +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Changed tests' names to PascalCase | added testing::TempDir() | Starting services when there are wrong parameters +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Ros2 lights controller (`#241 `_) + * ROS 2 lights animations (`#221 `_) + * add animation and image_animation class + * controller node and pluginlib + * add tests and fix issues + * add animation images + * add alpha channel + * add charging animation with tests + * update dummy controller + * fix missing includes + * add missing dep + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * review changes + * update tests + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * ROS 2 lights converter (`#223 `_) + * add led_segment + * WIP led_panel and segment converter + * simplify converter + * update segment conversion + * add test for led panel, segment, and converter + * review fixes + * update copyright year + * update controller so it somehow works + * Update tests + * Apply review fixes + * fix gpio tests + * parse controller configuration + * add default animation + * add yaml_utils to panther_utils + * add led animation and queue + * Fix queuing + * fix bug + * priority and timeout queue validation + * move queue to separate file + * add briefs + * param and brightness handle + * user animations, bugs, briefs + * use yaml utils + * fix tests + * update tests + * add led_animation test + * test fixxes + * add led animations queue tests + * clean up code | clean up code + * Update documentation | add launching controller node + * make it work + * update scheduler + * Update panther_lights/LIGHTS_API.md + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + * review fixes + * update pre-commit and fix typos + * Update panther_bringup/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_hardware_interfaces/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/test/test_controller_node.cpp + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * review fixes + * Update README.md + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> +* GPIO release +* add getter +* Next tests +* Clean up +* Add first tests +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Fix IsPinAvailable calls +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Update readme in battery and lights after diagnostics changes (`#230 `_) + * Update readme in battery and lights after diagnostics changes + * Update panther_lights/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + --------- + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* Ros2 code style fixes (`#215 `_) + * Fix style of cstdint usage in battery + * Fix style of cstdint usage in lights + * Unify handling exceptions + * Fix formatting +* Ros2 diagnostics (`#224 `_) + * Implement diagnostics in panther_battery + * Correct class diagnostic updater member name + * Order panther battery dependencies + * Add diagnostics to panther lights + * Minor diagnostics changes + * Improve messages and add broadcasting in lights + * Add broadcasting in battery node + * Add additional diagnostic in battery + * Change pointers policy + * Review changes + * Restore LogError +* Merge branch 'ros2-devel' into ros2-control-pdo-commands + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml +* Manuall merge of ros2-prealpha to ros2-dev (`#218 `_) + * manually merge prealpha with ros2-dev + * typo and formatting + * change locks and simplify code + * add missing library + * fix build +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_bringup/launch/bringup.launch.py +* ROS 2 lights gpio handle (`#213 `_) + * use gpio driver + * fix build + * review fixes +* ROS 2 panther lights (`#210 `_) + * add panther_lights package + * add ROS 2 lights_driver_node + * add dummy controller node + * fix driver + * fix on shutdown cleanup + * add ros synchronous client + * update apa102 driver + * use service to power up LEDs + * add Copyright + * revert add ros synchronous client + * revert use service to power up LEDs + * make it work + * use bool value in SetPowerPin + * libgpiod installation in CMake + * rename nodes + * update README + * change naming + * code fixes + * add brief + * update authors + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * fix lights + * update methods briefs + * simplify condition + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * Update panther_lights/src/apa102.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Maciej Stępień, Paweł Irzyk, rafal-gorecki diff --git a/panther_lights/package.xml b/panther_lights/package.xml index 26571320..eb4117da 100644 --- a/panther_lights/package.xml +++ b/panther_lights/package.xml @@ -2,7 +2,7 @@ panther_lights - 0.0.1 + 2.0.0 Package used to control the Husarion Panther Bumper Lights Husarion Apache License 2.0 diff --git a/panther_manager/CHANGELOG.rst b/panther_manager/CHANGELOG.rst new file mode 100644 index 00000000..46ed3127 --- /dev/null +++ b/panther_manager/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Merge pull request `#258 `_ from husarion/ros2-control-fix-err-flag-reset + ROS 2- Fix Error Clearing Mechanism for Roboteq Controllers +* fixes for pth 1.06 +* Ros2 namespace (`#255 `_) + * Preparation for namespace + * Simulation working + * Hardware look ok + * Update panther_controller/config/WH01_controller.yaml + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Apply Jakub suggestions + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + * Fix imu + * Readme + * Add imu namespace + * Jakub suggestions + * Add panther manager to xml + * pre-commit + * Fixed ekf + * Additional remapping + * fix imu + * Pawel suggestions (collision with gamepad) + * cmd_vel + * Use namespace instead of PushRosNamespace + --------- + Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> + Co-authored-by: Jakub Delicat +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* few more +* Group and order improvement +* Rest of fils +* Headers + Copyright +* Merge pull request `#246 `_ from husarion/ros2-panther-manager + ROS 2 panther_manager +* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge pull request `#232 `_ from husarion/ros2-manager-plugins + ROS 2 manager plugins +* fix tests +* add missing params and fix default launch +* Fixed typo | cleaned up the test_shutdown_hosts_node +* fix +* Added shutdonw hosts node +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* remove MultiThreadedExecutor +* Add suggestions +* Add README +* remove bad file +* Added all suggestions +* fixed user to username | added test_shutdown_host +* fixed tick after timeout node +* add MultiThreadedExecutor +* review fixes +* fix merge and move files +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* fixed tests +* Changed tests' names to PascalCase | added testing::TempDir() | Starting services when there are wrong parameters +* Added RegisterNode template function +* Made fixed commit for behaviortreee | templated create service function | removed unused warnings +* applied panther_utils +* Changed utils names and moved start stop to constructor and destructor +* Added package suggestions without tests +* fix bb constant name +* add missing dependencies +* add manager_bt_node tests +* add log if tree fails +* clean up code +* port manager to ROS 2 +* added tests for tick_after_timeout +* Added TickAfterTimeout +* typo +* tested on the robot +* Fixed tesT +* Revert "added test for single host plugin" + This reverts commit a4f9051c8dfcf03cefa4f827904126fb50c0b316. +* added test for single host plugin +* added test single plugin +* Added tests for signal shutdown plugin +* Fixed building trigger +* Removed different types of building behavio tree +* Moved pluigns to actions | added shutdown plugins +* Added explicite casts +* Added tests for set animation plugin +* Added trigger tests +* Added full call_set_bool plugin test +* Added trigger service call plugin +* added set bool service +* added set bool service +* added behaviortree_ros2 to the repository because it is not in rosped +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, Paweł Kowalski, rafal-gorecki diff --git a/panther_manager/package.xml b/panther_manager/package.xml index 8d46d2da..eaed78e9 100644 --- a/panther_manager/package.xml +++ b/panther_manager/package.xml @@ -3,7 +3,7 @@ panther_manager - 0.0.1 + 2.0.0 Set of nodes used for high level management of Husarion Panther robot Husarion Apache License 2.0 diff --git a/panther_utils/CHANGELOG.rst b/panther_utils/CHANGELOG.rst new file mode 100644 index 00000000..a0ea9633 --- /dev/null +++ b/panther_utils/CHANGELOG.rst @@ -0,0 +1,426 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package panther_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.0.0 (2024-03-29) +------------------ +* Merge pull request `#257 `_ from husarion/ros2-headers + Divide Headers into std and local liblaries +* Group and order improvement +* Rest of fils +* Headers + Copyright +* Merge pull request `#234 `_ from husarion/ros2-lights-tests + ROS 2 lights tests +* Add Dawid suggestions +* Merge branch 'ros2-devel' into ros2-ekf-optimalization +* Rename topics +* Merge branch 'ros2-devel' into ros2-lights-tests +* Merge branch 'ros2-manager-plugins' of https://github.com/husarion/panther_ros into ros2-panther-manager +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-manager-plugins +* Ros2 lights controller (`#241 `_) + * ROS 2 lights animations (`#221 `_) + * add animation and image_animation class + * controller node and pluginlib + * add tests and fix issues + * add animation images + * add alpha channel + * add charging animation with tests + * update dummy controller + * fix missing includes + * add missing dep + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * Update panther_lights/include/panther_lights/animation/animation.hpp + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * review changes + * update tests + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + * ROS 2 lights converter (`#223 `_) + * add led_segment + * WIP led_panel and segment converter + * simplify converter + * update segment conversion + * add test for led panel, segment, and converter + * review fixes + * update copyright year + * update controller so it somehow works + * Update tests + * Apply review fixes + * fix gpio tests + * parse controller configuration + * add default animation + * add yaml_utils to panther_utils + * add led animation and queue + * Fix queuing + * fix bug + * priority and timeout queue validation + * move queue to separate file + * add briefs + * param and brightness handle + * user animations, bugs, briefs + * use yaml utils + * fix tests + * update tests + * add led_animation test + * test fixxes + * add led animations queue tests + * clean up code | clean up code + * Update documentation | add launching controller node + * make it work + * update scheduler + * Update panther_lights/LIGHTS_API.md + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + * review fixes + * update pre-commit and fix typos + * Update panther_bringup/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_hardware_interfaces/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/README.md + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * Update panther_lights/test/test_controller_node.cpp + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> + * review fixes + * Update README.md + --------- + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> + Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> +* Ros2 diagnostics hardware interfaces (`#231 `_) + * add GPIO controller + * Basic integration of gpio controller and panther system + * [WIP] Add panther version + * add io state topic + * Remove unnecessary parts from cmakelists + * Cleanup gpio controller + * Add estop to panther system + * Add todo comment + * Add ServiceWrapper + * Add estop services + * Add remaps to ros2 control + * Add publishing estop state, change iostate to latched and fix publishing initial state + * revise e-stop logic in initial stage + * same, but in better way + * small changes + * remove clear_errors service + * Fix test + * Add resetting gpio controller + * Change wheel separation multiplier to 1.0 + * fix pin names list + * add robot version check before GPIO read + * Change lock in gpio driver + * Fix order in cmakelists + * Change throws to exception in briefs + * Remove unnecessary includes + * Fix controller_manager topic remaps + * Add checking if last commands were 0 before resetting estop + * Change estop variable to atomic bool + * Add motor controller mutex + * Change order of operations when setting estop + * Fix order of methods + * Fixes in panther system - change methods order, use ReadDriverStatesUpdateFrequency, remove unnecessary logs + * Remove max_safety_stop_attempts (no longer needed after adding gpio controller) + * Refactor setting estop in write method + * Fix estop naming convention + * Remove old todos + * Fix typo + * Review fixes + * fix formatting + * Update panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * review fixes + * rename some methods + * draft of InitializeAndPublishIOStateMsg functionality + * Initialize diagnostic updater + * Update docs + * fix io_state topic + * fix service warappers + * small fix + * Add missing dependencies + * Implement diagnostics tasks + * Add header file to panther_system + * Add get map methods + * Add utilities and tests + * Fix mistaken removal + * Fix method order + * Update panther_hardware_interfaces/README.md + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/panther_system.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_hardware_interfaces/src/roboteq_data_converters.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/common_utilities.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/include/panther_utils/diagnostics.hpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_common_utilities.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Update panther_utils/test/test_diagnostics.cpp + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> + * Add additional test in test_diagnostics + --------- + Co-authored-by: Paweł Kowalski + Co-authored-by: Maciej Stępień + Co-authored-by: Paweł Kowalski <82044322+pkowalsk1@users.noreply.github.com> + Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> +* GPIO release +* Add first tests +* Merge remote-tracking branch 'origin/ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#208 `_ from husarion/ros2-control + Add ROS 2 control +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + panther_gpiod/CMakeLists.txt + panther_gpiod/package.xml + panther_gpiod/src/gpio_driver.cpp +* Merge branch 'ros2-devel' into ros2-add-mecanum-controller +* Merge pull request `#228 `_ from husarion/ros2-update-utils + Move ros test utils to separate file and add ExpectThrowWithDescription +* move ros test utils to separate file and add ExpectThrowWithDescription +* Merge branch 'ros2-control' into ros2-control-pdo-commands + Conflicts: + panther_controller/config/WH01_controller.yaml + panther_controller/config/WH02_controller.yaml + panther_controller/config/WH04_controller.yaml + panther_description/urdf/panther_macro.urdf.xacro + panther_hardware_interfaces/CMakeLists.txt + panther_hardware_interfaces/CODE_STRUCTURE.md + panther_hardware_interfaces/README.md + panther_hardware_interfaces/include/panther_hardware_interfaces/canopen_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/motors_controller.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/panther_system_ros_interface.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_data_converters.hpp + panther_hardware_interfaces/include/panther_hardware_interfaces/roboteq_driver.hpp + panther_hardware_interfaces/src/canopen_controller.cpp + panther_hardware_interfaces/src/motors_controller.cpp + panther_hardware_interfaces/src/panther_system.cpp + panther_hardware_interfaces/src/panther_system_ros_interface.cpp + panther_hardware_interfaces/src/roboteq_driver.cpp +* CR suggestions - move configureRT to panther_utils +* Merge branch 'ros2-devel' into ros2-control + Conflicts: + .clang-format + README.md + panther_controller/CMakeLists.txt + panther_controller/launch/controller.launch.py + panther_controller/package.xml + panther_description/CMakeLists.txt + panther_description/config/WH01.yaml + panther_description/config/WH02.yaml + panther_description/config/WH04.yaml + panther_description/meshes/WH01/fl_wheel.dae + panther_description/meshes/WH01/fr_wheel.dae + panther_description/meshes/WH01/rl_wheel.dae + panther_description/meshes/WH01/rr_wheel.dae + panther_description/meshes/WH02/fl_wheel.dae + panther_description/meshes/WH02/fr_wheel.dae + panther_description/meshes/WH02/rl_wheel.dae + panther_description/meshes/WH02/rr_wheel.dae + panther_description/meshes/WH04/fl_wheel.dae + panther_description/meshes/WH04/fr_wheel.dae + panther_description/meshes/WH04/rl_wheel.dae + panther_description/meshes/WH04/rr_wheel.dae + panther_description/meshes/body.dae + panther_description/meshes/components/external_antenna.dae + panther_description/package.xml + panther_description/rviz/panther.rviz + panther_description/urdf/body.urdf.xacro + panther_description/urdf/components/external_antenna.urdf.xacro + panther_description/urdf/panther.urdf.xacro + panther_description/urdf/panther_macro.urdf.xacro + panther_description/urdf/wheel.urdf.xacro +* Add pre-commit, clang-format and license to files (`#207 `_) + Add pre-commit, clang-format and license to files +* ROS 2 adc node (`#135 `_) + * add adc data reader + * add adc node and tests + * update nodes and tests + * add readings timeout + * update tests + * data reader fixes + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/README.md + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add adc to battery converter + * battery class + * battery params + * fix republisher node + * update adc node + * update tests + * update adc_node test + * small fixes and formating + * update headers and create battery.cpp + * use shared ptr for adc readers + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/battery.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_node.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * fix + * update adc node + * update tests + * update tests + * reorganize tests + * ROS 2 adc node refactor (`#202 `_) + * update adc_data_reader + * add battery_publisher class + * clean up battery class + * separate headers for bat publishers + * add adc_battery subclass + * update battery publisher + * fix ADCBattery + * fix error logging + * add battery tests + * add battery_publisher test + * add single and dual battery publisher tests + * Update panther_battery/src/adc_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * formating and small fixes + * update readme + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/src/battery_publisher.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/include/panther_battery/adc_data_reader.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add MergeBatteryPowerSupplyHealth method + * code formatting + * fix bat params order + * review fixes + * update test_utils and add test for it + * update tests + * remove unnecessary try catch + * update battery virtual methods + * review fixes + * small fix + * fixes again + * change MergeBatteryPowerSupplyStatus logic + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* ROS 2 panther battery package (`#128 `_) + * add panther_battery package + * update roboteq_republisher_node + * small fixes + * add moving average + * small fixes + * update launch + * add republisher test + * update tests + * add test utils + * small fixes + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_battery/test/test_roboteq_republisher_node.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * update tests + * another test update + * review fixes + * add README + * small fixes + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* ROS 2 panther utils package (`#125 `_) + * add panther_utils package + * add MovingAverage + * add test for MoveingAverage + * match package.xml standard + * export include directories + * add reset method + * update tests + * Update panther_utils/test/test_moving_average.cpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * Update panther_utils/include/panther_utils/moving_average.hpp + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> + * review fixes + * add coment + * update test + --------- + Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com> +* Contributors: Dawid, Dawid Kmak, Jakub Delicat, Krzysztof Wojciechowski, Maciej Stępień, Paweł Irzyk, rafal-gorecki diff --git a/panther_utils/package.xml b/panther_utils/package.xml index 60c24097..a23babf3 100644 --- a/panther_utils/package.xml +++ b/panther_utils/package.xml @@ -2,7 +2,7 @@ panther_utils - 0.0.1 + 2.0.0 Package for commonly used functions, classes, and configurations Husarion Apache License 2.0