0.1.1

This release includes bug fixes to the EMD Grasp Planner and Grasp Executor, as well as supporting the latest EPD Object Tracking functionalities.

• Fixed bug that triggers Grasp Execution when no grasp plans found.
• Added a clearing and repopulating method in Grasp Planner for end effector to prevent retaining of past information
• Fixed inconsistencies in Grasp Planner Rotation by adding additional configuration parameters to file to specify end effector tf alignments
• Fixed initial point generation for finger grasp samples in Grasp Planner to account for object axis vector
• Added quick dimension and pose fix to ensure grasp object collision shape is properly formed for grasp execution.
• Added EPD Tracking output support to Grasp Planner
• Added Service based communication between EPD and EMD Grasp Planner
• Removed epd_msgs as a required dependency for EMD, and removed epd_msgs from main repository.
• Updated MoveItCppPtr namespace from moveit::planning_interface to moveit_cpp for Moveit 2.2.0 due to deprecation notice
• Fix for ignoring links
• Separate configure() from execution in ds_async_executor
• Overhaul several scheduler bugs
• Use chrono instead of rclcpp::time

Contributors

Glenn Tan, Chen Bainian, Wong Wen Kang, Khairul Amin

0.1.0

This Final-Release Candidate houses all new major features and the following changes:

• Changed Grasp Planner methodology to implement a different mathematical approach.
• Restructured Grasp Planner libraries to Grasp Object, End Effector, and Grasp Scene for clear separation of different required functions.
• Converted from using depth images to using Point Clouds to provide more information about the grasp area, using the Point Cloud Library
• Added support for collision detection using the Flexible Collision Library.
• Added methods to generate multifinger gripper and suction cup array grasp samples.
• Added a more comprehensive configuration file for grasp planner to account for multifinger/suction array support, and point cloud support.
• Added Ranking Algorithm that supports Multifinger gripper and suction cup array for Grasp Planner support.
• Added unit tests for all added features for grasp planner.
• Removed all documentation to a separate repository (Both doxygen and sphinx).
• Add in grasp_execution workcell context parameterization.
• Temporary fix for MoveIt2 Execution timeout problem.
• Switch to ROS2 Service Based Communication Between Grasp Execution and Grasp Planner to prevent execution interruption and grasping of repeated objects.
• Fix speed changing problem.
• Experimental Moveit2 octomap integration.
• Added dynamic safety Executor plugin and update controller to latest.
• Amended grasp_execution.rviz file to include grasp_markers and pointcloud topics.
• Move grasp_execution inside easy_manipulation_deployment folder.
• Add initial grasp_execution package.

Contributors

Glenn Tan, Chen Bainian, Khairul Amin, Chia Tse En