Changes¶
- Parse all input files inside the same cpp process, thus preserving #define'd include guards (#130)
- Quote XML entities for 'doc' inside ros manifest.xml generated file
- Don't require the presence of a ROS node when initializing a client/c, allowing more flexibility in the server implementation (e.g. multiple components inside the same ros node) (#141)
- Do not abuse automake _LDFLAGS variable, thereby fixing the build with recent ROS kinetic that dropped the weird '-l:' flags in ros .pc files
Download¶
genom3-ros-1.18.tar.gz
Changes¶
- In the setters for motor parameters, interpret the id as the motor id, not the array index.
- Add a set_limits() service, setting hardware velocity and acceleration limits as well as other misc. parameters.
- Stop and disconnect motors when shutting down the component.
Download¶
dynamixel-genom3-2.2.tar.gz
Changes¶
- Fix an issue with the dynamixel "byte stuffing" algorithm. In certain rare circumstances, wrongly escaped messages could be sent.
- Fix the sending of commands when motors were not numbered sequentially.
- Fix issues with the configure() service raising a bad_transition exception or not disconnecting a previously configured connection.
- Reboot a motor after a successful call to configure().
- Set a zero velocity target to all motors during a disconnect().
- Add a stop() function, servoing all motos to a zero velocity target.
- Document a bit the interface.
Download¶
dynamixel-genom3-2.1.tar.gz
Changes¶
- Drop "baudrate" parameter from the connect() service.
- Check ftdi latency and change it to 1ms if needed.
- Report meaningful error when set_dir() is called in a disconnected state.
- Initialize ios port during startup.
- Document all the services, ports and tasks.
Download¶
arduio-genom3-1.2.tar.gz
Changes¶
- Fix conversion of numeric constant to IDL octet type.
- Allow documenting a "port", by using a "doc" attribute in a block declaration attached to the port.
- Skeleton template generates an optional README.adoc file from the .gen file.
- Add a "yes for all" option in the interactive merge action of "skeleton".
- Improve skeleton merge mode so that merged but unchanged files are not touched (useful in particular with configure.ac).
- Allow parsing multiple input files including the same files (#130).
- Add tutorials on "how to use external dependency" and "IDS purpose and usage".
- Use asciidoctor instead of asciidoc to generate the static documentation.
Download¶
genom-2.99.30.tar.gz
Changes¶
- Fix send buffer overflow on the Arduino Nano
- Format the doc with asciidoctor instead of asciidoc
Download¶
arduio-1.1.1.tar.gz
Changes¶
- Reset integral term of the position controller when in emergency (or without a desired position).
- Use aio(7) for logging and drop log entries when io requests are too slow
Download¶
nhfc-genom3-1.5.tar.gz
Changes¶
- Increase the default thresholds on the state covariance to go to emergency
- Reduce default saturation for error in position from 20 to 10cm
- Fix computation of the integral term on the position error
Download¶
nhfc-genom3-1.4.1.tar.gz
Changes¶
- Always start next trajectory from the last state reached - not the current one
- Add a set_current_state() service to reset the trajectory starting state
- Ignore velocities and acceleration when setting the current state, because the noise present in those values might generate weird trajectories.
Download¶
maneuver-genom3-1.2.tar.gz
Changes¶
- Fix SMC error computation (32 bits -> 16 bits conversion), preventing from triggering dynamic braking
- Drop the hardcoded minimum PWM limit in open-loop control mode (now automatically switches to closed loop control when the velocity drops below ~15Hz)
- Limit peak voltage due to dynamic braking to 23V (hardcoded conservative limit for the MKBL2.0 hardware).
Download¶
tk3-mikrokopter-1.8.2.tar.gz