Changelog.md

Changelog

This changelog covers the entire dave project which includes a few repositories, not just the current dave repo.

[1.0.0] - 2020-06-08

Added

• Visual models of
  • Forward looking sonar: nps_uw_sensors_gazebo PR#3
  • Doppler velocity logs: nps_uw_sensors_gazebo PR#6
  • Lidar: nps_uw_sensor_gazebo PR#4
  • ROV: dave PR#17
• Manipulation, force feedback based on joint forces and torques: dave PR#16
• Sensor functionality
  • Sonar, prototype single-beam sonar plugin to simulate beam pattern and sonar equations: nps_uw_sensors_gazebo PR's [#1](nps_uw_sensors_gazebo PR#6 and [#5](nps_uw_sensors_gazebo PR#6
  • Lidar, configuring existing plugin for underwater application and addition of pan/tilt functionality: [nps_uw_sensors_gazebo PR #4](nps_uw_sensors_gazebo PR#6
  • DVL, water track and beam velocity additions: ds_sim PR#3
• Documentation, descriptions and tutorials
  • Demonstrations and tutorials described on dave wiki page
  • Evaluation of current DVL plugins
  • Evaluation of current forward-looking/multibeam sonar plugins

[2.0.0] - 2020-09-25

Added

• Visual models of
  • New vehicles (Smilodon, Caracara and Caldus): dave PR #54, #62 and #67
  • Three Glider Models: dave PR #31
  • Predator Manipulator: dave PR #26
• Sensor Functionality
  • USBL dev dave PR #50 and #60
  • Prototype of Depth camera sonar nps_uw_sensors_gazebo PR #13
  • DVL upgrade to include current profiling nps_uw_sensors_gazebo PR #15
  • Improved underwater lidar model, standalone and mounted to vehicle dave PR #66 and nps_uw_sensors_gazebo PR #17
• Environmental Plugins
  • Bathymetry: generate DEM models directly from mapping data dave PR 44.
  • Occluded objects on seafloor dave PR 43
• Manipulation: Electrical mating plugin enhancement dave PR #40
• Documentation, descriptions and tutorials
  • Additional demonstrations and tutorials described on dave wiki page
  • Evaluation of Ocean Current Plugin Capabilities
• Github Action for Continuous Integration dave PR #39 and nps_uw_sensors_gazebo PR 16

[3.0.0] - 2020-12-17

Added

• Sensor Functionality
  • Ray-based Multibeam Sonar: nps_uw_sensors_gazebo PR #25
• Documentation, descriptions and tutorials
  • Multibeam Forward Looking Sonar
  • Visualize Seabed Gradient with DVL
• Environmental Plugins
  • Stratified Ocean Current: dave PR #76

Update

• Environmental Plugins
• Documentation, descriptions and tutorials
  • Ocean current plugin

[3.1.0] - 2021-1-22

Update

• Ray-based Multibeam Sonar is moved to separate repository
  • Ray-based Multibeam Sonar: nps_uw_multibeam_sonar
• Docker base image : Nvidia/cuda instead of Nvidia/opengl : dave PR #89
• Documentation, descriptions and tutorials
  • Multibeam Forward Looking Sonar
  • Clone source repositories

[4.0.0] - 2021-7-30

Update

• Official Ubuntu Focal (20.04) - Noetic - Gazebo 11 Support
  • VCS support : dave PR #137
  • Compatibility to Noetic and Melodic
• Remove legcy Image sonar and GPS inherited from UUV Simulator : dave PR #94
• Ocean current plugin
  • Relative path for stratified/transient ocean current databasefile path : dave PR #95
  • ROS topic format updated to Vector3 and reorganized cross-dependency between model/world plugin source codes : dave PR #86 and dave PR #100
  • Multiple vehicle support : dave PR #101
  • Tidal Oscillation support : dave PR #102
  • Fix sudden jump at database interpolation : dave PR #106
• Predator arm
  • texture fix : dave PR #99
  • Change joint name : dave PR #112
• Docker directory removed from dave repository and replaced to use dockwater : dave PR #132
• Documentation, descriptions and tutorials
  • Overall Installation to tutorial wikis are updated for Ubuntu Focal (20.04) - Noetic - Gazebo 11 Support

[4.1.0] - 2021-09-03

Added

• Extended DVL sensor capabilities to support user-specified, spatially varying currents and provide vertical water column velocity profiles : dave PRs #144 and #154.
• Terrain-Aided Navigation demonstration scenarios wiki

Update

• Continued updates to conform to new repository layout for the purposes of increasing clarity and ease of maintenance : dave PRs #143, #145, #149 and #150.

[4.2.0] - 2021-11-05

Added

• Object model degradation tool
  • 3D mesh modification via Blender script PR#160
  • Parameterization proof of concept for SDF friction values via embedded Ruby script PR#163
  • Demonstration of addition of custom SDF tags for extending model properties and corresponding influence on sensing PR#164

[4.3.0] - 2022-02-25

Updated

• Ocean current plugin

  • Search for database file in all Gazebo paths (GAZEBO_MODEL_PATH, GAZEBO_RESOURCE_PATH, etc) dave PR #190

• Multibeam Sonar plugin

  • Docker environment using OSRF Rocker and dockwater Installation using docker
  • New colorized live sonar image viewer Multibeam Sonar PR #38

• Object model degradation tool

  • Bug fixes; tutorial updates documenting how to add new distortion methods dave PR #185
  • Set the amount of vertex randomization offset VERT_RAND_MAX based on object size; degraded model examples dave PR #212

Added

• Multibeam Sonar Plugin

  • GPURay-based multibeam sonar with fidelity flag for number of elevation rays Multibeam Sonar PR #37
  • Custom SDF tags of model description for multibeam sonar reflecitivty Reflectivity by custom sdf tags
  • Multibeam Sonar URDF for standalone and robot description Multibeam Sonar PR #38
  • Documentation and tutorial for the local search scenario demonstration with GPURay-based multibeam sonar wiki
  • Documentation and tutorial for the degraded object detection scenarios with distorted mesh models wiki and Multibeam Sonar PR #33

• Bathymetry Converter

  • Docker image distribution including necessary libraries and executables Docker Hub image
  • Redesign of the automatic tile generator with python language mkbathy.py
  • Automatic color texture generation with bathymetry depth

• Demonstration of Importing Bathymetric Maps

  • Bathymetry Models Wiki

• Mud Plugin

  • Demonstration and associated models for incorporation of the Gazebo mud plugin into the dave environment dave PR #184
  • Documentation and tutorial - updates Occlusion documentation to include the mud demo wiki

• Bimanual Manipulation

  • Creation of MoveIt-based infrastructure for motion planning with single and multi-arm systems. uuv_manipulators PR #8
  • Addition and configuration of multiple arms onboard arbitrary robot. dave PR #206
  • Demonstration of bimanual manipulation scenarios using joy teleop, RViz interaction, and MoveIt ROS nodes. dave PR #228
  • Documentation and tutorial wiki

• Mating Plugin

  • Expose mating forces for mating plugin as ROS publication dave PR #189
  • Electrical flying lead demonstration scenario - incremental improvement dave PR #161
  • Updated Electrical Plug Mating Plugin Wiki

• Simple Bathymetry with Heightmaps

  • Example and tutorial for creating new seafloor heightmaps from arbitrary-format bathymetry sources dave PR #207
  • Building Bathymetry Heightmaps Wiki

• Object model degradation tool wiki documentation

• Object Models

  • New 3D object models. dave PRs #194, #205, #209, and #225

Coming Soon

• Manipulator reaction force interface

• Bathymetry integration plugin usability upgrades dave PR #180

  • Simpler latitude/longitude coordinate system
  • A new script to set the initial position with geodetic coordinates
  • GPS Viewer/Logger and a new flag to set how many tiles to keep in the scene
  • New tutorial document and demo files Bathymetry integration wiki