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@evan-palmer evan-palmer released this 29 May 21:36
0.5.0
c599696
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Learn about vigilant mode.

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.
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