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CHANGELOG.md

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Change log

1.4.0 (2016-08-31)

  • API changes:
    • Python:
      • API uses numpy arrays for joints and PyKDL for 3D commands, no more Python arrays/lists
      • Import as a package using import dvrk
      • Added base class arm.py with common features as well as mtm.py, ecm.py, psm.py for arm specific topics
      • Added wrappers console.py, suj.py and psm-teleop.py for corresponding ROS topics
    • Matlab:
      • API more closely matches Python interface
      • Use with CAUTION, it works fine in interactive mode but in a script, Matlab tends to never call the ROS spin function and the callbacks are failing. See more comments in the dvrk_matlab readme.md
  • Deprecated features:
    • Message types have changed to take adavantage of Stamped data type (mostly for timestamps). See compatibility mode in new features.
    • dvrk_kinematics, dvrk_teleop and rqt_dvrk are now deprecated, still available in directory deprecated
  • New features:
    • dvrk_robot:
      • Added many topics to match more closely the C++ available commands (see dVRK API wiki page)
      • Added compatibility mode to maintain old topic names and message types. For example, dvrk_console_json has the option --compatibility <value> : compatibility mode, e.g. "v1_3_0", "v1_4_0" (optional)
  • Bug fixes:
    • Better timestamps (cisst-ros new feature)

1.3.0 (2016-01-08)

  • API changes:
    • Python: now import as a package using import dvrk_python.robot
  • Deprecated features:
    • None
  • New features:
    • Potentiometer calibration script: dvrk_robot/scripts/dvrk_calibrate_potentiometers.py
    • dvrk_robot: added low level IO data collection for pots/joints/actuators (see potentiometer calibration wiki)
    • dvrk_robot: added set_wrench topics
    • dvrk_robot: console supports kinematic simulation with RViz (optional)
  • Bug fixes:
    • None

1.1.1 (2015-10-18)

  • Change log file created
  • API changes:
    • Removed joint_publisher python code, now use topics directly from dVRK C++ stack (so much cleaner!)
    • Config file name, urdf and rviz, use dVRK C++ arm naming convention, i.e. PSM1, not psm_one, ...
    • Updated al urdf code to handle arm name as parameter (e.g. PSM1, PSM2)
  • Deprecated features:
    • None
  • New features:
    • dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types
    • dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types
  • Bug fixes:
    • fixed urdf for PSM jaw angle
    • ...