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Rethink Robotics SDK 0.7.0 Release Notes

Date: 11/21/2013

Overview

The Baxter SDK provides a platform for roboticists to develop custom applications to run with the Baxter Research Robot.

See our wiki for more information: https://github.com/RethinkRobotics/sdk-docs/wiki

Update Instructions

https://github.com/RethinkRobotics/sdk-docs/wiki/Software-Update

Changes Wiki Page

https://github.com/RethinkRobotics/sdk-docs/wiki/Release-Changes

Major Updates

  • Now publicly available!
  • Joint torque control
  • Gazebo Support
  • Joint position accuracy improvements (factor of 10)
  • ROS Groovy on robot
  • ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
  • Catkinization of SDK
  • SDK reorganization into standalone metapackages, multiple repositories
  • Ability to set speeds of joint position command execution
  • Ability to specify gripper/object mass for custom grippers

Additions

  • Joint torque control
  • Gazebo Support
  • Ability to set speeds of joint position command execution
  • Ability to specify gripper/object mass for custom grippers
  • Introduction of baxter_core_msgs and baxter_maintenance_msgs (formerly baxter_msgs)
  • Convenient catkin environment initialization script baxter.sh (formerly init.sh)
  • ROS/network configuration display in tty3 of the robot
  • Gripper Cuff control example
  • Ability to reset cameras (re-enumerate if not listed at startup)
  • Gripper Action Server and example program
  • Gripper control in joint trajectory playback example
  • Gripper cuff control in joint recorder
  • Ability to disable arm-to-arm collision avoidance
  • Ability to disable cuff zero-g interaction
  • Ability to disable gravity compensation
  • Launch files for action server/joystick examples
  • Boot animation
  • rosbags of /diagnostics in FTP Logs
  • All (rosrun) examples now include -h (help) argument/description

Removals

  • baxter_msgs (now baxter_core_msgs, baxter_maintenance_msgs)
  • rosbuild support
  • joystart scripts (now replaced with roslaunch files)
  • init.sh (now replaced with baxter.sh for catkin environments)

Changes

  • ROS Groovy on robot
  • Joint position accuracy improvements (factor of 10)
  • ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
  • SDK reorganization into standalone metapackages
  • Catkin/Bloom standard package reorganization
  • Limb joint commands now single message - reflected in limb interface
  • Major gripper rewrite to support more advanced usage and future custom grippers
  • ROS logging cleanup for console, diagnostics use.
  • More explicit error messages
  • Improved verbosity/standardization of help output
  • DigitalIO state_changed signal/slot and read-only state property (no longer callable)

Fixes

  • Tuck arm improvements to handle ctrl-c and partial tucks

Known Issues