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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

0.3.2 - 2021-01-11

Fixed

  • Compute 'ERPM_MAX' with proper equation.

0.3.1 - 2020-09-21

Fixed

  • PWM constants are not computed in SIMULATION mode (and cmd_vel are not computed in BASIC mode), therefore, it is able to run in SIMULATION mode without car parameters.
  • Simulation action modifiers are now properly received from the Parameter Server.

0.3.0 - 2020-09-11

Added

  • Added support for direct specification of VESC related constants by setting ERPM_MAX and TO_ERPM variables.
  • Added ANGULAR control mode, which allows to control the steering angle in rad or deg.
  • Added METRIC support for SIMULATION mode.
  • Added ~rate parameter for external setting of publish rate of the messages.
  • Added ~speed_modifier and ~steer_modifier to increase the action while using LEGACY or JOINT control modes in SIMULATION mode.

Changed

  • Legacy message type drive_api_values is no longer required for running the node.
  • Simulation publishing topic /cmd_vel is created only in this mode.
  • PWM constants are no longer required for running the node in SIMULATION mode.
  • Improved error messages while handing /command messages to be more verbose.
  • Ordinary publishing topic /drive_pwm is created only in non-SIMULATION mode.

0.2.0 - 2019-12-17

Added

  • Added new enum ControlMode that can be used to select a method of controlling the vehicle. Original control mode is named LEGACY.
  • Added JOINT control mode, which is specified only by two numbers within <-1, 1> interval.
  • Added METRIC control mode, which allows to control the speed in m.s^-1.
  • Added command_msgs/Command, command_msgs/CommandParameter and command_msgs/CommandArrayStamped message types (not required to run the node).
  • Added command_callback function that handles command_msgs/CommandArrayStamped messages that can also contain control mode.
  • Added VESC support (LEGACY and JOINT control modes are mapped on max rotation of the motor, computed from parameters).
  • Added new enum RunMode that is set on node's start and has three options: BASIC, BASIC_VESC (speed controlled by VESC, steering by Teensy) and SIMULATION.

0.1.5 - 2019-05-31

Changed

  • Added queue size for Subscribers to avoid stacking of old messages.

0.1.4 - 2019-05-08

Fixed

  • Steering direction for /cmd_vel.

0.1.3 - 2019-05-02

Added

  • Added simulation mode that does not require internal car parameters.
  • Added option to launch the node as anonymous.
  • Added /eStop Subscriber to avoid sending messages when manual mode is active.

Fixed

  • Added handling of uncaught exception when ROS time jumps.

0.1.2 - 2019-03-17

Added

  • Publishing received commands to standardized /cmd_vel topic.

0.1.1 - 2019-02-11

Changed

  • Updated message drive_api_values to allow stopping car and resetting steer.

0.1.0 - 2019-02-11

Added

  • Access to the API via ROS topic.
  • Added custom message type drive_api_values.

0.0.1 - 2018-05-29

Added

  • First version of car control API layer (Python module).