v0.5.0

Release Notes

This release makes the following changes:

1. The quaternion error used to calculate the pose task error in the TPIK solver was replaced with the left-invariant error. This avoids singularities in the quaternion error.
2. Renames velocity_controllers to twist_controllers to avoid naming clashes with ros2_controllers.
3. Modifies the TAM controller to produce all NaN values only when the reference is all NaN. If there are some valid values (which may occur when an axis is uncontrolled by the outer-loop controller), the produced force/torque will be set to zero.

v0.4.3

Release Notes

This release adds an option to the polynomial_thrust_curve_controller to reverse the thruster spin direction. This is intended to prevent scenarios where users (myself) needed to modify the TAM to achieve the desired thrust.

v0.4.2

Release Notes

This release addresses a bug in the controller coordinator that prevents the coordinator from launching controllers. This is in response to an upstream change the disallows controllers from being launched until after their hardware interface has been loaded.

v0.4.1

Release Notes

This release makes the following changes:

1. A new impedance controller was introduced
2. The end effector trajectory controller was renamed and placed into a general trajectory_controllers package
3. Upstream deprecations were addressed in the packages

v0.3.3

Release Notes

This release integrates support for activating/deactivating multiple hardware interfaces using the controller coordinator.

v0.3.2

Release Notes

This patch replaces the deprecated realtime_tools API with their current, recommended API.

v0.3.1

Release Notes

This is a patch for the controller coordinator which had a memory access bug in the service calls.

v0.3.0

Release Notes

This release introduces the controller coordinator, which provides an endpoint for activating and deactivating control systems.

v0.2.1

Release Notes

This is a small patch that fixes the stale auv_control_demos documentation and updates the configurations to use the latest versions of the API.

v0.2.0

Release Notes

This release implements the end effector trajectory controller for use with the whole body controller. Additionally, bug fixes were made for the inverse kinematics controller.