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@adeguet1 adeguet1 released this 08 Jan 16:29
· 21 commits to main since this release
2.4.0
bc33e79

2.4.0 (2026-01-07)

Starting with 2.4.0, we strongly recommend to use ROS2 with Ubuntu 24.04 or higher.

  • API changes:
    • New JSON format for:
      • Top configuration level (was console.json, now system.json)
      • PID
      • IO
      • snake_case in all configuration files
      • Si units in all configuration files (radians, meters...)
    • New CRTK Python syntax, all methods return a tuple (data, timestamp). Timestamps set to zero indicate an error.
  • Deprecated features:
    • CMake minimum required: 3.16
    • Ubuntu 18.04 support dropped
    • Anything referring to "console", now uses "system"
  • New features:
    • Documentation now on https://dvrk.readthedocs.io, major updates and fixes
    • Improved configuration file generator for IO (python script)
    • Improved interface for calibration scripts
    • System configuration file wizard (C++/Qt GUI), save and/or launch a system configuration
    • New top level component "system" (was "console")
      • Support multiple IO components
      • Multiple surgeon consoles
      • Multiple ECMs per patient side
      • Clutch works on MTMs even with no operator present
    • Gravity compensation for S/Si patient side arms (PSM and ECM)
    • All arms have mounting_pitch used for gravity compensation
    • Added support for embedded Python interpreter (aka cisstInteractive or IRE)
    • Updated cisstMultiTask collectors for reliable data collection of events and state data without ROS
    • All components (IO and PID) now have their own ROS bridge library
      • Available in read-only or read-write mode
      • Added simple ROS nodes with IO or IO and PID without arm and system classes
    • Added solution for "fixed" SUJ, setups with PSMs and ECM but no SUJ controller
      • SUJ_fixed class
      • Hand-eye registration script to find PSM_base to camera or ECM_base
    • New example with bilateral teleoperation, python embedded interpreter...
    • Support for custom endoscopes (DH and GC)
    • Many more instruments supported
    • On SUJ Standard, added weights between primary and secondary pots to support faulty systems
    • PSM teleoperation: flags to enable/disable use of linear/angular velocities
    • ...
  • Bug fixes:
    • Fix bug damaging instruments when engaging
    • Ongoing tuning of PID gains
    • Fixed gravity compensation for ECM Standard/Classic
    • Better DH and URDF for PSMs and ECMs, including physical DH for gravity compensation
    • JSON schemas: fixed references, use markdown (was html), added requirements.txt, integrated in readthedocs
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