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@adeguet1 adeguet1 released this 29 Dec 21:05
· 21 commits to main since this release
2.1.0
17858b0
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Learn about vigilant mode.

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)
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