CHANGELOG
Changelog for package clearpath_control
2.5.0 (2025-05-29)
2.3.2 (2025-04-30)
2.3.1 (2025-04-16)
2.3.0 (2025-04-11)
[clearpath_control] Added remapping for upstream mecanum controller. (#199)
Re-add reference remapping (#198)
added cmd_vel_out to dingo Ds
remove duplicate remap
Jazzy dingo and ridgeback fixes (#179) * Updated mecanum controller type * Changed puma control frequency to 20hz * Added mecanum package dep
initial changes for adding the linited velocity output
Ensure the right horizontal axis is used for yaw control, left horizontal axis for linear-y (#178)
Contributors: Chris Iverach-Brereton, José Mastrangelo, Roni Kreinin, Tony Baltovski, luis-camero
2.2.2 (2025-04-09)
2.2.1 (2025-04-07)
2.2.0 (2025-03-11)
2.1.0 (2025-01-31)
2.0.3 (2025-01-21)
Bypass bluetooth link quality check (#151) * Comment-out the bluetooth cutoff node, the mux, and the remap from the joy_teleop to bypass the link quality check * Add missing newlines to joy teleop config files * Change the link quality check to be exclusive instead of inclusive
Contributors: Chris Iverach-Brereton
2.0.2 (2025-01-20)
2.0.1 (2025-01-17)
2.0.0 (2025-01-16)
Update diff_drive controller settings (#137) * Update diff_drive controller settings * Update all diff_drive settings
Improve joy telep support (#131) * Update description, add bluez dependency * Add the quality_cutoff parameter to all of the PS4 configuration files * Update the launch file to start the new cutoff node and additional twist_mux * Add udev rules for various controllers * Add dependency on the new bt cutoff package * Add xbox controller parameters for all platforms * Fix the PS4/5 axis ordering; the left stick shows up as axis 3/4, with the l/r analogue triggers being 2 & 5. Update omni control configurations accordingly * Add PS5 udev rules, config files * Add a timeout to the quality lock so we lock out the controller if the quality-checker node crashes * Set the respawn flag for the BT cutoff node and the joy_linux node * Add additional logging when blocking for services & IPC. Since we’ve added a timeout to the lock, publish fake quality data when using wired controllers. Log when this happens
Add enable_ekf launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (#133)
Fix sensor depends (#129) * Remove the package initializations that depend on robot packages * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages
A300 VCAN (#130) * A300 vcan1 * Set vcan0 to be default can interface for lynx control * Fix to prevent including the same package multiple times * Added filename argument to LaunchFile * Linting
A300 (#118) * Add A300 meshes * Move A300 meshes * Add A300 URDF * Added A300 control configuration files * Remove unstamped parameter, deprecated * Use clearpath_hardware_interface LynxHardware
Fix controller names and kinematics (#109)
Update simulation support for Jazzy (#117) * Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages. * Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway * Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file * Fix the tests to catch unsupported platforms & accessories
Rename ign_ -> gz_ for gazebo dependencies, comment-out missing jazzy dependencies (for now)
Removed unstamped remappings
Set minimum version of teleop_twist_joy to 2.6.1 (the lowest version that supports stamped messages)
Pass use_stamped to twist_mux
Remap twist_mux output to stamped cmd_vel
Pass publish_stamped_twist to joystick teleop node
Remap stamped cmd_vel controller topic
Contributors: Chris Iverach-Brereton, Christoph Fröhlich, Luis Camero, Roni Kreinin, Tony Baltovski
1.0.0 (2024-11-25)
Fix controller names and kinematics (#109)
Contributors: luis-camero
0.3.4 (2024-10-08)
0.3.3 (2024-10-04)
0.3.2 (2024-09-29)
0.3.1 (2024-09-23)
0.3.0 (2024-09-19)
Changes.
Add dependency clearpath_mecanum_drive_controller
0.3.0 Release Candidate with Main Changes (#81) * Added tests * Added action to build from release and source * Generator linting erros * Customization linting errors * Linting * Fix: Remove IP address from discovery server launch so it listens on all NICs * Changes. * 0.2.8 * Add sysctl config file that changes ipfrag settings to support receiving large messages * Added Zed URDF * Added Zed to description generator * Modified common parameter generation to always flatten * Changes. * 0.2.9 * Missing important remapping to mirror hardware topics * Added topic to gazebo plugins * Updated topic names to match gazebo message types * Topics of simulated onboard sensors * Realsense adds optical links when in simulator * Changes. * 0.2.10 * Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF * Fixes styling issues * Set spawner as super client * Changes. * 0.2.11 * Removed duplicate class * Use ROS1 covariance values * Updated renamed macanum drive controller * Enable gazebo friction plugin on DingoO ——— Co-authored-by: Hilary Luo <hluo@clearpathrobotics.com> Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: robbiefish <rob.fisher@hbkworld.com>
Add Y to controllers
Updated wheel separation
Keep both joint definitions
Control updates
Changed default canbus device to vcan0
Added Puma control configuration
0.2.8
Changes.
0.2.7
Changes.
Control adds manipulators if simulation
Modifications to allow arms to function
0.2.6
Changes.
Disable tf_frame_prefix_enable
0.2.5
Changes.
0.2.4
Changes.
0.2.3
Changes.
0.2.2
Changes.xx
0.2.1
Changes.
Added do150 control
Dingo O mecanum wheels
Fixed rocker and small covariance
Fixed wheel radius parameter
Initial add do100
Contributors: Luis Camero, Tony Baltovski, luis-camero
Add dependency clearpath_mecanum_drive_controller
Added tests
Added action to build from release and source
Generator linting erros
Customization linting errors
Linting
Fix: Remove IP address from discovery server launch so it listens on all NICs
Add sysctl config file that changes ipfrag settings to support receiving large messages
Added Zed URDF
Added Zed to description generator
Modified common parameter generation to always flatten
Missing important remapping to mirror hardware topics
Added topic to gazebo plugins
Updated topic names to match gazebo message types
Topics of simulated onboard sensors
Realsense adds optical links when in simulator
Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF
Fixes styling issues
Set spawner as super client
Removed duplicate class
Use ROS1 covariance values
Updated renamed macanum drive controller
Enable gazebo friction plugin on DingoO
Add Y to controllers
Updated wheel separation
Keep both joint definitions
Control updates
Changed default canbus device to vcan0
Added Puma control configuration
Control adds manipulators if simulation
Modifications to allow arms to function
Added do150 control
Dingo O mecanum wheels
Fixed rocker and small covariance
Fixed wheel radius parameter
Initial add do100
Contributors: Tony Baltovski, luis-camero, Steve Macenski, Hilary Luo, robbiefish
0.2.11 (2024-08-08)
Set spawner as super client
Contributors: Luis Camero
0.2.10 (2024-07-25)
0.2.9 (2024-05-28)
0.2.8 (2024-05-14)
0.2.7 (2024-04-08)
0.2.6 (2024-01-18)
Disable tf_frame_prefix_enable
Contributors: Luis Camero
0.2.5 (2024-01-15)
0.2.4 (2024-01-11)
0.2.3 (2024-01-08)
0.2.2 (2024-01-04)
0.2.1 (2023-12-21)
0.2.0 (2023-12-08)
Pass robot description to controller manager over topic
Added W200 Hardware interface.
Fixed dingo control param
Added DD150
Fixed name
Removed comments
Reduced speed on turbo dd100
Added dd100
Added fixes to control and localization
Extended timeout to a minute
Added configuration files for generic robots
Fixes to control parameters and naming
Fixed package names and added w200 urdf macro
Initial Warthog addition
Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski
0.1.3 (2023-11-03)
0.1.2 (2023-10-02)
0.1.1 (2023-08-25)
0.1.0 (2023-08-17)
Formatting
Removed joy_teleop namespace, remap topics to that namespace instead
Contributors: Roni Kreinin
0.0.9 (2023-07-31)
Update platform nodes from extra ros parameters Flattened default parameter files
Contributors: Roni Kreinin
0.0.8 (2023-07-24)
0.0.7 (2023-07-19)
0.0.6 (2023-07-13)
0.0.5 (2023-07-12)
0.0.4 (2023-07-07)
0.0.3 (2023-07-05)
Updated localization configs
J100 use Vyaw for localization
Updated husky track value
Wheel slip plugin Significantly improved jackal odom in sim
Contributors: Roni Kreinin
0.0.2 (2023-07-04)
0.0.1 (2023-06-21)
Updated launch writer make writing different object types easier Localization parameter fixes Updated gazebo wheel friction
Added namespacing support
Added clearpath_generator_common Moved clearpath_platform to clearpath_common Fixed use_sim_time parameter issue with ekf_node
Use generated configs for control, localization, teleop
use_sim_time support Added lidar gazebo plugins
Fixed dependencies
Moved description generator to clearpath_generators Added accessory urdf’s Use launch arg for choosing controller
Moved IMU filter to platform launch Moved localization into a separate launch file Updated decoration urdfs Added structure urdf
Remapped topics to match API
Corrected imu_filter_node topics and parameter node name Use joy_linux
Bishop sensors/mounts
Added realsense description
[clearpath_control] Renamed robot_model to platform_model.
control launch fixes Added ark enclosure for j100 top_plate
Move clearpath_description to clearpath_platform_description and switched robot names to robot model number.
[clearpath_control] Switched to using model number.
[clearpath_control] Changed depends to exec_depends.
[clearpath_control] Updated platform names to model.
Select launch configuration without launch context
Initial commit of clearpath_control.
Contributors: Roni Kreinin, Tony Baltovski