CHANGELOG

0.0.2 simple_robot
- headless simulation enabled

0.2.12 simple_robot_control
We added a more interesting world for the simulation

0.2.11 simple_robot_description_2wheels
In this version we added a stereo vision camera to the 2-wheeled robot model

0.0.2 simple_robot_hardware_interface
- improve the printing of the module

0.0.1 simple_robot
- convenient launch file

0.2.11 simple_robot_control
- robot localisation further explored

0.2.10 simple_robot_description_2wheels
- second IMU added to simulate a scenario like in SIRCAUR project

0.2.9 simple_robot_gazebo
- fix a bug regarding the publish of the yaw velocity in the odom topic
- added the option to publish the tf from odom frame to base_link frame

0.0.3 simple_robot_tests
A simple service server to move the robot added.

0.0.2 simple_robot_tests
A simple odometry listener added

0.2.10 simple_robot_control
Package cleanup

0.0.1 simple_robot_hardware_interface
The package contains scripts that perform the translation of cmdvel messages to
joint velocities. Initial commit.

0.0.1 simple_robot_tests
The package contains all the required tests for debugging the stack.
Initial commit.

0.2.9 simple_robot_description_2wheels
- diameter fixed to reflect the robot model

0.2.9 simple_robot_control
- robot_localization added and configured using the appropriate config file (so far).

0.2.8 simple_robot_gazebo
- twist covariance added

0.2.9 simple_robot_description_2wheels
In this version we changed:
- further clean up in IMUs and the compatibility with the EKF packages
- two new launch files based on the EKF packages
- two new rviz files based on the EKF packages

0.2.7 simple_robot_gazebo
- Housekeeping

0.2.8 simple_robot_description_2wheels
- Sort out the two IMU plugins that works woth the differnet Kalman filter packages

0.2.8 simple_robot_control
- launch file added to start robot_pose_ekf including the required tf static
  transformations to have an allowed tf tree

0.2.7 simple_robot_description_4wheels
- odom plugin updated in gazebo file
- package.xml fixed for all packages

0.2.6 simple_robot_gazebo (tested only to 2-wheels)
- Added a static transform between the EKF frame and the map (ground truth odometry)

0.2.6 simple_robot_description_2wheels
- Housekeeping

0.2.7 simple_robot_description_2wheels
- Fixed the IMU proper functionality after adding the EKF node

0.2.7 simple_robot_control
- Housekeeping; remove unsupported waypoint controller

1.14.4 robot_pose_ekf
- robot_pose_ekf package added
- Disable the tf broadcast to avoid confict with the original one
- Create a new lanch file to accomodate our needs

0.2.6 simple_robot_description_2wheels
In this version of the package we have introduced the following changes:
- Ground truth odometry plugin
- New IMU plugin to allow
- new RViz launch file added to support gazebo simulation run in parallel without conflicts.

0.2.5 simple_robot_description_2wheels
IMU added to the 2-wheels robot

0.2.5 simple_robot_gazebo (tested only to 2-wheels)
In this version of the package we have introduced the following changes:
- Added more debugging in encoders plugin to compare no-noisy (biased) encoders to
to noisy ones.
- Added a static TF mapping between new frame map and odom.
- Added an unused (at the end) adapter to transform ground truth odometry to ground truth pose.
- Move wheels plugin fixed to correctly insert bias between 2-sides.
- Odom plugin changed from reporting the world state (accurate positioning from simulation) to Encoders
based.

0.2.6 simple_robot_control
Manual control launch added.

0.2.8 simple_robot
Laser scanner added to the 4-wheels robot

0.2.7 simple_robot
Simple mapping package added

0.2.6 simple_robot
Laser scanner added to the 2-wheels robot and a labyrinth simple world created

0.2.5 simple_robot
In this update we upgraded the simple controller to support 2 and 4 wheels. Additionally,
we debugged the 4wheels robot (base_footprint)

0.2.4 simple_robot
In this update we completed the upgrade of the encoders plugin to support 4 wheels
and we increase the friction coefficients of the wheels to avoid slipage

0.2.3 simple_robot
In this update we upgrated the move_wheels plugin to support 2wheels and 4wheels

0.2.2 simple_robot
In this update we introduce meshes in gazebo models instead of shape

0.2.1 simple_robot
In this update we have further tidied up the 2wheels and 4wheels models

0.2.0 simple_robot
In this update we introduced the following:
- The problem with the custom messages included in the build before created is fixed.
- Added a new configuration for a 4wheels robot

0.0.13 simple_robot
Odom gazebo plugin refactored to support 4-wheels drive

0.0.12 simple_robot
The twist_to_motors manual controller updated to support the new joint_velocities
approach.

0.0.11 simple_robot
The control framework debugged and introduced as part of the simple_robot_control

0.0.10 simple_robot
First cut of the simple control framework added

0.0.9 simple_robot
Bugfix the correct side application of the transmitted joint velocities to the robot

0.0.8 simple_robot
In this update, we change the joint_velocities topics message from Int16MultiArray
to Float32MultiArray

0.0.7 simple_robot
This update includes the followings:
- A normal distribution added to tick counts
- Resolution added to encoder ticks for the motors
- A clean xacro with color updates

0.0.6 simple_robot
This update includes the followings:
- motors listen to joint velocities in an Int16MultiArray
- description.launch added to easily create model in other launch files
- motors support offset in sides to simulate real low-quality amplifiers/motors
- odometry updated to publish pose as well
- mock_velocities updated to publish joint velocities

0.0.5 simple_robot
Encoders have their own message type (like in hardware interface) and publish to
the dedicated topic, as they should.

0.0.4 simple_robot
First cut of encoders added to the simulation

0.0.3 simple_robot
Odometry plugin added

0.0.2 simple_robot
Twist_To_Motors interface implemented by applying differential drive classic
equations.
moveMotors plugin changed from Int to Float to simplify the control (standrd
input from the keypboard)

0.0.1 simple_robot
Initial commit