CHANGELOG

Changelog for package husarion_ugv_controller

2.3.0 (2025-05-19)

  • Revert “Update changelog”

  • Revert “2.3.0”

  • Revert “2.3.0”

  • Revert “Update changelog”

  • Reapply “Release 2.3.0 to ros2”

  • Merge branch ‘ros2’ of https://github.com/husarion/husarion_ugv_ros into rel-test

  • Merge pull request #550 from husarion/release-2.3.0

  • 2.3.0

  • Update changelog

  • Merge pull request #549 from husarion/revert-546-release-2.3.0

  • Revert “Release 2.3.0”

  • Merge pull request #548 from husarion/revert-547-2.3.0-20250425

  • Revert “Release 2.3.0 to ros2”

  • Merge pull request #547 from husarion/2.3.0-20250425

  • Merge pull request #546 from husarion/release-2.3.0

  • 2.3.0

  • Update changelog

  • update wheel parameters (#544)

  • Merge remote-tracking branch ‘origin/ros2-devel’ into change-pat

  • Jazzy load urdf (#520)

  • Merge pull request #518 from husarion/jazzy-devel-hw

  • Merge branch ‘ros2-devel’ into jazzy-devel-hw

  • Migrate simulation code to run on ROS2 Jazzy (#511)

  • Update minimal cmake version

  • Use hardware instead of private topic

  • Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw

  • Merge branch ‘ros2-devel’ into jazzy-devel-sim

  • Fix controllers

  • Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw

  • Use stamped msgs

  • Merge branch ‘ros2-devel’ into jazzy-devel-sim

  • Contributors: Dawid Kmak, Rafal Gorecki, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki

2.2.1 (2025-04-04)

2.2.0 (2025-03-13)

  • release fixes (#497)

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-devel

  • Merge pull request #496 from husarion/repo-rename

  • update links

  • Merge branch ‘ros2-devel’ into lights-new

  • Add log level argument to launch files (#473)

  • adjust wheel_separation_multiplier (#485)

  • Merge pull request #479 from husarion/e_stop_torque_enable

  • Rename to motor_torque_enable

  • Rename service e_stop_torque_enable

  • Add suggestions

  • Change logic from motor_power_enable to e_stop_torque_enable

  • Fix and update config script (rename panther_description -> husarion_ugv_description)

  • Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)

  • Readme files minor fixes (#463)

  • Merge pull request #466 from husarion/ros2-add-msgs

  • Merge branch ‘ros2-devel’ into ros2-add-msgs

  • Merge branch ‘ros2-devel’ into add-panther-diagnostics-config

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-devel

  • Merge pull request #460 from husarion/ros2-devel-better-config-dir

  • Add husarion_ugv_msgs

  • optional config dir

  • Merge pull request #457 from husarion/ros2-lynx-devel

  • decrease cmd_vel_timeout

  • Merge pull request #455 from husarion/ros2-lynx-merge

  • use ROBOT_MODEL_NAME env

  • Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-lynx-devel

  • Merge pull request #444 from husarion/ros2-config-dir

  • component file

  • use configs from /config dir

  • Ros2 husarion ugv v2 (#422)

  • Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

  • Merge branch ‘ros2-devel’ into ros2-lights-tests

  • Contributors: pawelirh

2.1.1 (2024-09-05)

  • Merge pull request #403 from husarion/ros2-control-ns-fix

  • Remove deprecated –namespace arg

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-testing-poc

  • Ros2 estop sim gui (#384)

  • Merge branch ‘ros2-devel’ into ros2-ns-refactor

  • unify CMakeLists.txt files (#381)

  • unify CMakeLists.txt files

  • New format of documentation (#369)

  • Contributors: Dawid, Dawid Kmak, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

  • Fix imu tf frame (#373)

  • Process noise update (#361)

  • Merge pull request #362 from husarion/ros2-api-reorganization

  • Enhance ROS API names in the stack

  • Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.4 (2024-06-28)

  • Add EKF GPS configuration (#351)

  • Merge pull request #343 from husarion/ros2-gpio-controller-revision

  • Merge branch ‘ros2-devel’ into ros2-gz-lights

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-gpio-controller-revision

  • Merge branch ‘ros2’ into ros2-build-in-animation

  • Implement changes in driver node

  • Merge branch ‘ros2’ into ros2-gz-lights

  • Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

  • Merge pull request #320 from husarion/ros2-clear-logs

  • Organize logs: panther_system and panther_imu

  • Contributors: Dawid Kmak, pawelirh

2.0.2 (2024-06-05)

  • Launch refactor (#307)

  • Merge branch ‘ros2’ of https://github.com/husarion/panther_ros into ros2-manager-refactor

  • added diagnostics remapping and namespace to system_status (#306)

  • added remappings to diagnostics

  • Ros2 add components (#277)

  • Merge pull request #304 from husarion/ros2-control-fix

  • Merge branch ‘ros2’ into ros2-control-fix

  • fix ekf

  • Merge pull request #303 from husarion/ros2-controler-patch

  • Patch

  • Fix controller with namespace

  • Merge branch ‘ros2’ of https://github.com/husarion/panther_ros into ros2-manager-refactor

  • Multi robot spawn working (#256)

  • Contributors: Dawid, Jakub Delicat, Paweł Irzyk, rafal-gorecki

2.0.1 (2024-05-01)

  • Merge pull request #261 from husarion/ros2-readme

  • Pawel sugestions

  • Merge branch ‘ros2-devel’ into ros2-readme

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-os-diagnostics

  • Ros2 control imu hardware (#236)

  • Add controller readme

  • Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-os-diagnostics

  • Contributors: Jakub Delicat, Paweł Irzyk, rafal-gorecki

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 <jakub.delicat@husarion.com>

  • 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 <kowalski.pawel.r@gmail.com> 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