Openrobots

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

version 0.5 (and the 0.4 version which was not advertised) include some refactoring to prepare support for other Ubuntu/ROS versions and fix a few issues.

Changes¶

• Assume 0 initial velocity and acceleration for takeoff() service
• Add a reset() service cancelling current trajectory and erasing desired state
• Add a get_limits() service retrieving current bounds on position, velocity etc.

Download¶

maneuver-genom3-1.1.tar.gz