CHANGELOG
Changelog for package husarion_ugv_description
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 lights driver config (#543)
Jazzy fix components loading (#534)
Gz ROS bridge with multiple robot support (#527)
Merge remote-tracking branch ‘origin/ros2-devel’ into change-pat
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
Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw
Add updated ros_components_descriptions
Merge branch ‘ros2-devel’ into jazzy-devel-sim
Merge branch ‘jazzy-devel-sim’ into jazzy-devel-hw
Use stamped msgs
Merge branch ‘ros2-devel’ into jazzy-devel-sim
Fixes related with building simulation on Jazzy
Contributors: Dawid Kmak, Rafal Gorecki, Stefan, action-bot, github-actions[bot], kmakd, rafal-gorecki, rafal.gorecki
2.2.1 (2025-04-04)
bump components version (#519)
fix Lynx imu default position (#515)
Merge pull request #509 from husarion/ros2-imu-ros2-controll-fix
And add dev to components example
Workaround and remove ros2_controllers custom fork
Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-shutdown-request
Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-enchance-performance
Contributors: Dawid Kmak, kmakd, rafal-gorecki
2.2.0 (2025-03-13)
Merge pull request #498 from husarion/2.2.0-sim-fix
release fixes (#497)
Add fixes
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
Ros2 change wheels mount point (#492)
Ros2 readme update (#477)
Merge branch ‘ros2-devel’ into e_stop_torque_enable
Add reling link (#474)
Changed add joints to use_joint_state_publisher | added joint state p… (#470)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Contributors: Dawid Kmak, Jakub Delicat, 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)
LEDStrip plugin to Gazebo (#391)
Merge pull request #374 from husarion/ros2-ns-refactor
Merge branch ‘ros2-devel’ into ros2-ns-refactor
Merge branch ‘ros2-devel’ of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
Merge pull request #383 from husarion/ros-sim-estop
Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-testing-poc
Rename PantherSystem -> GzPantherSystem
Typos in Readme + estop publish on service call
Ros2 estop sim gui (#384)
Merge branch ‘ros2-devel’ into ros2-ns-refactor
unify CMakeLists.txt files (#381)
Add remapping
unify CMakeLists.txt files
Add EStop to Gazebo
New format of documentation (#369)
Namespace refactor
Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki
2.1.0 (2024-08-02)
2.0.4 (2024-06-28)
Delete unnecessary dependency
Add EKF GPS configuration (#351)
Merge pull request #337 from husarion/ros2-gz-lights
Move antenna to ros-components-description (#340)
Add manager
Merge branch ‘ros2-devel’ into ros2-gz-lights
Apply some Dawid suggestions
Merge remote-tracking branch ‘origin/ros2-devel’ into ros2-gpio-controller-revision
Merge branch ‘ros2’ into ros2-build-in-animation
Simplify and add cmd_vel
Use default components
Merge branch ‘ros2’ into ros2-gz-lights
Steering lights from channel topics
Add light macro
Add lights to urdf
Contributors: Dawid Kmak, pawelirh, rafal-gorecki
2.0.3 (2024-06-06)
Merge pull request #320 from husarion/ros2-clear-logs
Organize logs in panther_diagnostics and panther_description
Contributors: Dawid Kmak, pawelirh
2.0.2 (2024-06-05)
Merge pull request #318 from husarion/fix-default-path
Fix default components config path
Launch refactor (#307)
Merge branch ‘ros2’ of https://github.com/husarion/panther_ros into ros2-manager-refactor
Ros2 add components (#277)
Merge pull request #304 from husarion/ros2-control-fix
Merge pull request #303 from husarion/ros2-controler-patch
Patch
Remove const name
Merge branch ‘ros2’ of https://github.com/husarion/panther_ros into ros2-manager-refactor
Multi robot spawn working (#256)
Merge pull request #300 from husarion/rename_package
Merge branch ‘ros2’ into rename_package
Merge pull request #299 from husarion/ros2-diagnose-charging-current
use new launch
Fix typo in comment
Contributors: Dawid, Dawid Kmak, Jakub Delicat, Paweł Irzyk, pawelirh, rafal-gorecki
2.0.1 (2024-05-01)
Merge pull request #273 from husarion/ros2-sim-battery
Update panther_description/urdf/gazebo.urdf.xacro
Fix battery discharge
Merge pull request #261 from husarion/ros2-readme
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 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 <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
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