3.0.0

3.0.0 (2024-08-30)

• API changes:
  • All code is now shared for ROS1 and ROS2, older ROS2 specific repositories will be archived
• Deprecated features:
  • None
• New features:
  • New namespace and class cisst_ral to encapsulate most ROS1 and ROS2 differences
  • CRTK bridge checks that payload types are correct for a given command
  • More cisst types supported
• Bug fixes:
  • None

2.2.0

2.2.0 (2023-12-29)

• API changes:
  • ⚠️ cisst messages using snake case renamed to use case to match ROS2 (e.g. vecDoubleVec is now DoubleVec)
• Deprecated features:
  • None
• New features:
  • None
• Bug fixes:
  • None

2.1.0

2.1.0 (2023-11-21)

• API changes:
  • ⚠️ all CRTK _cp methods use PoseStamped instead of TransformStamped
  • ⚠️ CRTK messages using snake case renamed to use case to match ROS2 (e.g. operating_state is now OperatingState)
• Deprecated features:
  • Ubuntu 16.04 is not supported anymore
  • Ubuntu 18.04 requires default clang or upgrading gcc, see build instructions
• New features:
  • cisst_ros_crtk bridge:
    • Added support to bridge a required interface (see #15)
    • New topics/services bridged:
      • Topics free, hold, servo_jv
      • Services inverse_kinematics, forward_kinematics, crtk_version
  • cisst_ros_bridge:
    • Better code for header conversions, using template inference
    • More conversion methods (cisst to ros and ros to cisst)
• Bug fixes:
  • Tf: check timestamps to avoid boradcasting same data, check if multiple parents to since Tf doesn't support this
  • Add default joint names if none specified in conversions from cisst to ROS (useful for plotjuggler)

2.0.0

2.0.0 (2021-04-08)

• API changes:
  • Now depends on crtk_msgs package (https://github.com/collaborative-robotics/crtk_msgs)
  • Use CRTK snake_case for default commands (e.g. error, period_statistics...)
  • Changed prmEventButton::ERROR to UNDEFINED (for Windows compatibility)
• Deprecated features:
  • Removed cisst_conversions package since it wasn't used
• New features:
  • cisst_ros_crtk bridge:
    • Class using multiple mtsROSBridge instances to publish/subscribe to topics compatible with CRTK (names and payloads)
    • Can be used to bridge a given provided interface
    • Can monitor new interfaces at runtime to then bridge them (e.g. optical tracker tools plugged while the component is running, sawNDITracker)
  • cisst_ros_bridge:
    • Added support for CRTK
    • Added constructor using an existing ros node (this allows to create a node using argc to set namespace)
    • Added support for services using qualified read command
    • More conversion methods (cisst to ros and ros to cisst)
• Bug fixes:
  • CMake explicitely requires CXX 14 (for older compilers)

1.5.0

1.5.0 (2019-04-09)

• API changes:
  • Important: when publishing from cisst to ROS, if the data has a Valid flag and it's is not set to true, the data is NOT published. Make sure your application properly sets the Valid flag (most prm types have this flag!)
• Deprecated features:
  • None
• New features:
  • cisst_ros_bridge:
    • Added support for services
    • Added support for prmKeyValue
    • WrenchStamped now updates the frame_id from/to prm types
• Bug fixes:
  • In time conversion from cisst to ROS, added try/catch with error message containing topic name

1.4.0

1.4.0 (2018-05-16)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • cisst_ros_bridge:
    • Added support for tf2 from read command
    • Added options for queue size and latch for publishers (important for events)
    • Better time stamping and setting valid flag in conversion from ROS to cisst
    • Export moving/reference frame from cisst to ROS tf2, twist and tranform
    • mtsIntervalStatistics: added custom message and publishes statistics from ros bridge task
• Bug fixes:
  • None

1.3.0

1.3.0 (2017-11-07)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • cisst_msgs: added StringStamped
  • cisst_ros_bridge: added more data conversion methods:
    • Joy from prmInputData
    • mtsMessage to ROS messages
    • More twist and angular velocities
    • mtsDoubleVec to Float64MultiArray
    • mtsIntervalStatistics custom message
  • cisst_ros_bridge:
    • use std::copy instead of loops with random access
    • standardized error message when creating interfaces
    • factorized conversion methods when possible
    • started to use header.frame when a name is available in cisst
• Bug fixes:
  • None

1.2.0

1.2.0 (2016-08-30)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • cisst_msgs: added StringStamped
  • cisst_ros_bridge: added more data conversion methods:
    • Joy from event button pressed
    • Float64MultiArray from dynamic matrix
    • PointCloud from std::vector
  • cisst_ros_bridge: use cisstMultiTask timestamp to set ROS time for messages with header
• Bug fixes:
  • gcc: minor fixes to avoid warnings

1.1.0

1.1.0 (2016-01-08)

• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • cisst_ros_bridge: Added more data conversion methods (BoolStamped)
• Bug fixes:
  • None

1.0.1

1.0.1 (2015-10-18)

• Change log file created
• API changes:
  • None
• Deprecated features:
  • None
• New features:
  • cisst_ros_bridge: Added prmStateJoint data type
  • cisst_ros_bridge: Added support to convert events with std::string to ROS log messages
  • cisst_ros_bridge: Added more data conversion methods (int32, mtsFrm4x4)
• Bug fixes:
  • cisst_ros_bridge: Only read/convert if there are active subscribers