Openrobots

Dynamixel motors emulation library.

The library provides a pty emulating the Dynamixel communication protocol and
implements virtual motors.

Download¶

libdynamixel-1.2.tar.gz

Changes¶

• Fix sign of torque in set_gtmrp_geom()
• Add a "tilt prioritized" attitude controller (and make it the default)
• Add set_velocity(), to track a given velocity
• Don't go down if there is no position reference

Download¶

nhfc-genom3-2.3.tar.gz

Changes¶

• Add thrust and torque coefficients parameters (#367)
• Add set_gtmrp_geom() helper for Generically Tilted Multi-Rotor Platform

Download¶

mrsim-genom3-2.2.tar.gz

Changes¶

• Workaround for NaN acceleration in static links (#342)
• Fix undefined behaviour in 'period' tag parsing (#360)
• Use thrust and torque coefficients from libmrsim (#367)
• Use imalances forces and simulate vibrations with libmrsim.

Download¶

mrsim-gazebo-1.3.tar.gz

Changes¶

• Add thrust and torque coefficient (Cf, Ct) parameters to the motor.
• Add a quadratic drag torque to the motor model (#367)
• Update default motor parameter to better match the Roxxy 2827-35
• Add a helper function computing the allocation matrix and inertia matrix (#367)
• Add propeller imbalance forces, to simulate vibrations
• Compute IMU noise in body frame rather than world frame

Download¶

libmrsim-1.4.tar.gz

Changes¶

• Fix velocity and acceleration resolutions (#361)
• Add logging functions

Download¶

dynamixel-genom3-2.4.tar.gz

Changes¶

• Restrict rotor_failure exception to emergency cases and add rotor_stopped to distinguish between hardware failure and communication errors
• Fix spurious reset of rotor data (triggering a soft stop of all rotors) due to bad handling of EINTR in poll(2)

Download¶

rotorcraft-genom3-3.4.1.tar.gz

Changes¶

• Update to natnet-3.1 (motive-2.2) that includes camera position in model definition message.

Download¶

optitrack-genom3-2.3.1.tar.gz

Changes¶

• Fix constant_velocity model sometimes producing a singular covariance matrix.
• Don't run the filter until a first measurement is present. This prevents form growing the uncertainty unnecessarily.
• Change the behaviour of set_position(): it now merely sets the current state, fixing a previous issue with orientation setttings. The drawback is that any new position or orientation measurements will overwrite this.
• Fix altimeter measurements not being reset after fusion.
• Drop measurements older than maximum history length, instead of just warning the user.
• Log prediction model, process noise and magnetic field settings in state log file.
• Log measurement name vs. id mapping in the measurements log file.
• Fix replaying of log files after slight format change in 3.4.

Download¶

pom-genom3-3.5.tar.gz

Changes¶

• Add set_ecutoff() service to configure minimum satellite elevation cutoff
• Set the ublox dynamic platform model to something more dynamic
• Add set_timestamp_mode() service to configure the timestamp of GPS solutions
• Add set_frame() to change the mapping from ENU to XYZ
• gcc-10 compatibility

Download¶

gps-genom3-1.6.tar.gz