Release 2.15.2

What's Changed

• Resolute packaging by @arntanguy in #571

Full Changelog: v2.15.1...v2.15.2

Release 2.15.1

What's Changed

Debian Packaging

By @arntanguy in #569:

• Fix support for both libmc-rtc-ros-compat[-dev] or ros-<distro>-mc-rtc-ros-compat. Installing the later now removes the former without affecting libmc-rtc packages as expected.
• Fully split ros and non-ros packages, mc-rtc-utils is now split in two packages:
  • mc-rtc-utils for non-ros utilities. This includes the ros-free mc_[convex|surface|robot]_visualization.
  • ros-<distro>-mc-rtc-utils for non-ros utilities. This includes the ros version of mc_[convex|surface|robot]_visualization_ros.
• Add Ubuntu 24.04 noble packaging.

Doc

• update new-environment tutorial for RSDF Surface Tool addon by @ThomasDuvinage in #568
• add mc_robot_visualization, adapt `mc_[convex,surfaces]_visualization to packaging changes.

Full Changelog: v2.15.0...v2.15.1

Release 2.15.0

What's Changed

Changes:

• Dropped ROS1 support
• Robots:
  • Convex Hull Generation and Binding for Robot Collision Meshes by @ThomasDuvinage in #480
    • Convex hulls are now generated by default from <collision> tags containing meshes in the urdf file.
  • Connect Robot Modules by @arntanguy in #462
    • doc: see https://jrl-umi3218.github.io/mc_rtc/tutorials/advanced/new-robot.html#connecting-existing-robot-modules
  • Automatic creation and loading of RobotModule from Visual geometry by @arntanguy in #478
    • doc: see https://jrl-umi3218.github.io/mc_rtc/tutorials/recipes/fsm-example.html#loading-a-robot-from-a-visual-element-geometric-shape
  • Add OPTIONAL option to find_description_package macro by @ThomasDuvinage in #481
• Schemas:
  • JSON Schema LSP Support by @arntanguy in #483
    • mc_rtc_new[_fsm_]controller tools now add configuration for VSCode and Neovim to configure the yaml LSP server to suggest completions and documentation of supported YAML properties.
  • Add support for Eigen::MatrixXd by @arntanguy in #486
• Tools:
  • mc_log_ui: set minimum widget width by @ThomasDuvinage in #476
  • mc_bin_to_log : set double precision by @ThomasDuvinage in #475
• Doc:
  • Add tutorial about dual arm controller by @chuoru in #499
  • Added Robogami to the list of robots by @anastasiabolotnikova in #559
  • Add Kinova by @fkanehiro in #496
• Overload task constructors to hide targets and poses in GUI by @Hugo-L3174 in #457
• Configuration: Handle !!str tag to force interpreting scalars as string by @arntanguy in #485
• Add AsyncJob helper and threading documentation by @arntanguy in #493
• Make QP run optional in FSM Controllers by @arntanguy in #526
• Replace boost::filesystem with std::filesystem throughout the codebase by @arntanguy with @Copilot in #546
• compatibility with Ubuntu Resolue and ROS Lyrical by @Kooolkimooov in #538
• Always use system-provided QHull by @arntanguy in #521

Fixes:

• Make mc-rtc ros-free with mc-rtc-ros-compat by @arntanguy in #565
• fix(odom): set odom as robot pose in world frame by @jrl-robots in #484
• {fmt} support with recent versions 8..12. See https://github.com/arntanguy/fmt-torture-test for a small test repo to investigate {fmt} support.
  • fix(fmt): since fmt_10 format is expected to be const by @arntanguy in #528
  • Fix issues with newer version of fmt by @mathieu-celerier in #473
  • Tried to use eigen-fmt from Robin Passama. These changes were not kept due to difficulties in managing the breaking changes across multiple fmt versions.
    • Remove eigen-fmt, support for all fmt version (8 through 12) by @arntanguy in #525
    • fix(fmt): Only use eigen-fmt after fmt v9 by @arntanguy in #509
    • Use eigen-fmt by @arntanguy in #506
• Fix schema path preventing task creation from GUI by @ThomasDuvinage in #532
• GNUInstallDirs: remove hardcoded cmake install path by @khangtpham25 in #535
• Typo in new controller script recommended vscode extensions by @Hugo-L3174 in #533
• Handle collision convexes for multiple convexes per body by @Hugo-L3174 in #539
• Log: fix bin to rosbag conversion by @ThomasDuvinage in #553
• Fix macos build by @arntanguy in #552

Nix support: Added Nix support. See https://mc-rtc.github.io/nixpkgs/ to learn how to use it.

• Add MC_RTC_CONTROLLER_CONFIG env variable to load additional mc_rtc.yaml configuration. This is used to let Nix configure paths to runtime dependencies (controller, plugins, etc) without having to install plugins in mc_rtc's install tree as we typically do.
  • feat(config): Load mc_rtc.yaml from MC_RTC_CONTROLLER_CONFIG env variable by @arntanguy in #477
• Misc:
  • Add Nix flake and external jrl-cmakemodules 1.1.0 by @arntanguy in #520
  • Adapt for nixos (fmt 12, boost 1.87, rapidjson 2024-04-09) by @arntanguy in #494
  • Updates for nixpkg by @arntanguy in #495

Packaging:

• Ubuntu: 22.04
  • Note: to keep mc_rtc's package ROS-agnostic, it depends by default on libmc-rtc-ros-compat[-dev], that is built without ROS support.
    Thus mc_rtc won't resolve package:// paths from urdf files needed by the convex hull generation (#480).
    If ros is available, you can install ros-<distro>-mc-rtc-ros-compat that replaces the library with an ABI compatible one with ROS support. Installing ros-<distro>-mc-rtc-plugin has the same effect. Refer to #565 for further details.
• Nix: Linux (all distributions), and macOS
• Superbuild: Ubuntu 22.04

New Contributors

• @jrl-robots made their first contribution in #484
• @mathieu-celerier made their first contribution in #473
• @dependabot[bot] made their first contribution in #522
• @mc-rtc-nixpkgs-flake-updater[bot] made their first contribution in #527
• @chuoru made their first contribution in #499
• @Kooolkimooov made their first contribution in #538
• @arntanguy with @Copilot made their first contribution in #546
• @khangtpham25 made their first contribution in #535

Full Changelog: v2.14.0...v2.15.0

Release v2.14.0

What's Changed

• RVIZ RobotModel dynamic update by @ThomasDuvinage in #471
• [ImpedanceTask] Allow to set the limits of deltaComp from the task configurations by @mmurooka in #451
• Correct TVM contact constraints to enable torque control by @Hugo-L3174 in #474

Fixes

• Fix loading of color information from PolyhedronConfig in a389935

New Contributors

• @Hugo-L3174 made their first contribution in #474

Full Changelog: v2.13.0...v2.14.0

Release v2.13.0

Added

Changes

• Drop support for ubuntu bionic/focal

Fixes

• TransformTask: Fix use of targetFrame and relative from YAML configuration

• RobotVisualizer: Fix behaviour of checkbox for adding/removing frames

• mc_rtc_new_fsm_controller: upgrade to use importlib

• Correctly replace debug suffix (cmake)

• Properly store contacts' DoF in mc_rbydn::Contact

• Ensure uniqueness of contacts

• Add mc_surfaces_visualization/mc_convex_visualization/mc_robot_visualization tools to apt package

• Remove the default all signal handler to avoid signal_handler message and FULL ROS MESSAGE QUEUE error (#456)

• RobotMsg: fix wrong vector conversion for tau, alpha and alphaD (#445)

• ImpedanceTask: Log compliance pose (#446)

• Fix missing symbol in posture task

• [cmake] Uninstall autoload files when plugin autoload option is disabled (#436)

• [mc_control] Trim autoload files so they can be edited manually (#436)

• [mc_rbdyn] Fix a bug in addBodySensor (#433)

Release v2.12.0

Added

• [cmake] Add AUTOLOAD setting to the add_plugin macro to enable autoload (#436)
• [mc_rbdyn] Add addForceSensor to Robot (#433/#434)

Changes

• [cmake] The add_plugin macro no longer defaults to AUTOLOAD=ON (#436)

Fixes

• [cmake] Uninstall autoload files when plugin autoload option is disabled (#436)
• [mc_control] Trim autoload files so they can be edited manually (#436)
• [mc_rbdyn] Fix a bug in addBodySensor (#433)

Release v2.11.0

Added

• [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431)
• [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425)
• [mc_rtc] Add path helpers (#431)
• [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431)

Changes

• [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430)

Fixes

• [mc_rbdyn] Always use default_attitude to initialize the attitude (#424)
• [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask

Release v2.10.0

Added

• [mc_control] Support for renaming the main robot via the configuration (#423)
• [mc_rbdyn] Add addBodySensor to mc_rbdyn::Robot (#419)
• [mc_rtc] Add support for any fixed size vector to Schema (#422)
• [mc_rtc] Add std::map<std::string, T> support in Schema (#412)
• [mc_solver] Add support for inactive joints in a collision (#416)

Fixes

• [StabilizerTask] Fix disabling when the robot is in the air (#411)

Release v2.9.3

Added

• [mc_bin_utils] Add an option to show the initial configuration of the robot
• [mc_bin_utils] Add an option to show the calibration data used by the robot

Fixes

• [mc_control] Correctly resume logging on reset
• [mc_control/FSM] Only start the idle state on the first reset
• [Replay] Only remove robots published by the controller
• [StabilizerTask] Use a non-throwing variant of Robot::zmp
• [utils/mc_log_ui] Stop the animation before saving it

Release v2.9.2

Fixes

• [ROS] Correctly initialize ros2
• [ROS2] Publish description and parameters as topics rather than parameters