v0.11.2

What's Changed

• WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation by @traversaro in #193

Full Changelog: v0.11.1...v0.11.2

v0.11.1

What's Changed

• Fix fatal regression in wholebodydynamics device support of nonConsideredAxesPositions parameter by @traversaro in #192

Full Changelog: v0.11.0...v0.11.1

v0.11.0

What's Changed

• Fix WBD config files broken in #173 by @HosameldinMohamed in #175
• Add basic pixi support and add basic smoke test of wholebodydynamics device by @traversaro in #177
• Stop using CHANGELOG.md by @traversaro in #180
• Remove iDynTree deprecation warnings by @traversaro in #182
• wholebodydynamics: Remove support for reading FT and IMU using IAnalogSensor and IGenericSensor interfaces by @traversaro in #181
• pixi: Cleanup handling of dependencies built from source and showcase pixi+colcon integration to install dependencies from source by @traversaro in #184
• Remove scheduled pixi auto-update and add scheduled build with latest dependencies by @traversaro in #191
• Add support for nonConsideredAxesPositions parameter by @traversaro in #188

New Contributors

• @github-actions made their first contribution in #185

Full Changelog: v0.10.0...v0.11.0

v0.10.0

[0.10.0] - 2023-09-11

Changed

• Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (#172).
• Update WBD launch files (#173).

whole-body-estimators 0.9.1 (2023-02-09)

[0.9.1] - 2023-02-09

Fixed

• fix attaching both IMU and FTs as MAS network wrappers (#167).
• Implement VirtualAnalogClient::getAxes and VirtualAnalogRemapper::getAxes to fix compilation against YARP 3.8 (#159, #160).
• Fix compilation against YARP 3.8 (#166).

whole-body-estimators 0.9.0 (2022-08-31)

Changed

• Implement vectors collection and use it for streaming netExternalWrenches instead of yarp::os::Bottle. (See !155).

Fixed

• Fix a bug introduced in 0.8.0, due to which estimation of external forces and internal torques when FT sensors are read from sensors that expose an IAnalogSensor interface was not working (#157, #156).

whole-body-estimators 0.8.0 (2022-08-23)

Added

• Introduce MAS Read for FT sensors in WholeBodyDynamics device (#153).

whole-body-estimators 0.7.0 (2022-05-27)

whole-body-estimators 0.7.0 Release Notes

Added

• Add a steady-state Kalman filter with a null jerk model for the joint velocity and acceleration estimation in WholeBodyDynamics. (See !139).

Changed

• Updated the yarp rpc command calibStandingWithJetsiRonCubMk1 to be calibStandingWithJetsiRonCub, in order to perform calibStanding for the models iRonCub-Mk1 and iRonCub-Mk1_1 (See !136).
• Switched default carrier of genericSensorClient device from udp to fast_tcp to avoid delays up to 0.25 seconds when a receiver is interrupted (#145).

Fixed

• Fixed the possibility of deadlock in detachAll method in wholebodydynamics and baseEstimatorV1. This deadlock could lead to freeze during closing of the yarprobotinterface or the Gazebo simulator if the gazebo_yarp_robotinterface plugin was used (#146).
• Fixed YARP deprecations. (See !151)

whole-body-estimators 0.6.1 (2021-01-03)

whole-body-estimators 0.6.1 Release Notes

Fixed

• Fixed compilation against YARP 3.6 (#135).

whole-body-estimators 0.6.0 (2021-12-03)

whole-body-estimators 0.6.0 Release Notes

Added

• Add a parameter to set the periodicity of the WholeBodyDynamics thread (See !130).

Fixed

• Fixed joint acceleration filtering (See !124).
• Fixed wholeBodyDynamics device when loaded by the gazebo_yarp_robotinterface Gazebo plugin !126.
• Switch to generate YARP idl files at every build to fix compatibility with YARP master !131.

Changed

• Always enable compilation of devices (See !115)
• Migrate from RateThread to PeriodicThread in WholeBodyDynamics device (See !130).