CHANGELOG

Changelog for package talos_controller_configuration

2.0.2 (2025-03-12)

2.0.1 (2024-09-26)

• Merge branch ‘migration_bugfix’ into ‘humble-devel’ Migration Bugfixing See merge request robots/talos_robot!134

• fix typo

• Contributors: Sai Kishor Kothakota, sergiacosta

2.0.0 (2024-09-18)

• Merge branch ‘ros2-migration’ into ‘humble-devel’ Ros2 migration See merge request robots/talos_robot!130

• removed the default controllers from the bringup launch

• remove the unused args

• Change from the robot_utils to CommonArgs in launch_pal

• Add both leg position controllers into the position_controllers launch

• Update rest of the controller type parameters into the config files

• update the configurations of the broadcasters

• remove unnecessary non-existing controller launch and config

• move the controller type to the config files for the position controllers

• Comment out the non migrated dependencies

• Cleanup some import and start the default controller from the start.

• make sure the rate parameter is taken into account.

• Update the plotjuggler view to include the joint state

• Reduce the update_rate of the broadcasters

• Update the plot_juggler session on sensors debugging

• add the imu to ro2_control

• [talos_controller_configuration] add all F/T broadcasters and the estimator parameters and launcher.

• [talos_descirption] Try to add the force sensors at the feet

• set default position controllers arg full_v2 model

• remove default_controllers (position for now) from bringup controllers

• remove leg position controllers frfom position_controllers.launch.py

• fix jtc yaml files

• update gripper mimic joint and sensors

• clean launch files

• remove python script

• initialisation script added

• conf files for sensors

• bringup controllers

• working version with default position controllers

• fix force_torque_sensor controller name

• migrate all the basic launch files

• update all the config file for controller_configuration

• Merge branch ‘feat/ros2controlcli_dependency’ into ‘humble-devel’ Add ros2controlcli dependency See merge request robots/talos_robot!129

• Add ros2controlcli dependency

• migration of CMakeLists.txt and package.xml to ros2 - controller_config.

• Contributors: Jordan Palacios, Maximilien Naveau, Noel Jimenez, Sai Kishor Kothakota, ileniaperrella

1.1.30 (2023-11-08)

• Merge branch ‘smooth_position_control’ into ‘erbium-devel’ Add parameters for direct_position_control See merge request robots/talos_robot!125

• Update limiter_max_rate parameters in direct position control

• Add parameters for direct_position_control

• Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota

1.1.29 (2023-10-24)

• Merge branch ‘reset_ft_offset’ into ‘erbium-devel’ Reset ankle FT offset also before starting default controller See merge request robots/talos_robot!124

• Merge branch ‘change_license_to_apache’ into ‘erbium-devel’ change public license to Apache License 2.0 See merge request robots/talos_robot!126

• change public license to Apache License 2.0

• Reset ankle FT offset also before starting default controller

• Contributors: Jordan Palacios, Pierre Fernbach, Sai Kishor Kothakota

1.1.28 (2023-02-07)

1.1.27 (2023-01-18)

1.1.26 (2022-10-13)

• Merge branch ‘ft_zero_calibration’ into ‘erbium-devel’ Ft zero calibration See merge request robots/talos_robot!117

• Ft zero calibration

• Contributors: Jordan Palacios, maximiliennaveau

1.1.25 (2022-09-19)

1.1.24 (2022-04-20)

1.1.23 (2022-03-02)

• Remove actuator parameters for flexibility joints from this package

• Update stiffness value of hip flexibility to 4000 Nm

• Add actuator params yaml files for the flexibility

• Contributors: Pierre Fernbach

1.1.22 (2022-02-22)

• Fix wrong actuator parameters

• Merge branch ‘wrist_zero’ into ‘erbium-devel’ Add procedure to make to zero of the wrist FT sensors See merge request robots/talos_robot!113

• Add option to talos_initialisation script to make the zero set of the wrist FT

• Contributors: Adria Roig, Jordan Palacios, Pierre Fernbach

1.1.21 (2021-12-01)

1.1.20 (2021-11-17)

• Merge branch ‘impedance_param_files’ into ‘erbium-devel’ Impedance param files See merge request robots/talos_robot!109

• added default parameters and specifics params file

• added empty impedance parameter files

• Contributors: Adria Roig, Sai Kishor Kothakota

1.1.19 (2021-08-26)

• Merge branch ‘kangaroo_wbc’ into ‘erbium-devel’ Add ballscrew parameters in actuators params See merge request robots/talos_robot!108

• Add ballscrew parameters in actuators params

• Contributors: Adria Roig, victor

1.1.18 (2021-05-26)

• Merge branch ‘reset_ft_twice’ into ‘erbium-devel’ reset FTs twice before and after launching the default controllers See merge request robots/talos_robot!107

• reset FTs twice before and after launching the default controllers

• Contributors: Sai Kishor Kothakota, saikishor

1.1.17 (2021-03-05)

1.1.16 (2020-11-13)

1.1.15 (2020-08-01)

• Merge branch ‘talos6_final’ into ‘erbium-devel’ Talos6 final See merge request robots/talos_robot!103

• Update the new max_distance_impulse for elbow joints

• update the max distance impulse after testing on TALOS-6 with full_v2

• Contributors: Sai Kishor Kothakota, saikishor

1.1.14 (2020-07-30)

1.1.13 (2020-07-30)

• Merge branch ‘covers’ into ‘erbium-devel’ Increase safety after testing with covers See merge request robots/talos_robot!102

• Increase safety after testing with covers

• Contributors: Adria Roig, victor

1.1.12 (2020-07-21)

• Merge branch ‘initialisation_improvement’ into ‘erbium-devel’ Initialisation improvement See merge request robots/talos_robot!99

• fix the raw input message in talos initialization script

• Added tts client to state the status of initialization

• Contributors: Sai Kishor Kothakota, saikishor

1.1.11 (2020-07-21)

• Merge branch ‘default_torques’ into ‘erbium-devel’ Default torques See merge request robots/talos_robot!98

• added the torque offsets that need to be overriden

• Contributors: Adria Roig, Sai Kishor Kothakota

1.1.10 (2020-07-15)

• Merge branch ‘max_impulse_tests’ into ‘erbium-devel’ Increase max_impulse_dist for some joints See merge request robots/talos_robot!96

• Increase max_impulse_dist for some joints

• Contributors: Adria Roig, victor

1.1.9 (2020-07-14)

1.1.8 (2020-07-13)

• Set temporal result so we can launch default controllers

• Contributors: Jordan Palacios

1.1.7 (2020-07-02)

• Merge branch ‘2KHz’ into ‘erbium-devel’ 2 k hz See merge request robots/talos_robot!94

• Tune default safety_parameters

• Set walking controller at 2KHz

• added a way to disable safety for only a set of joints

• Update default_safety_parameters.yaml

• Reduce max impulse

• Contributors: Adria Roig, Adrià Roig, Sai Kishor Kothakota, victor

1.1.6 (2020-06-29)

• Merge branch ‘init_script’ into ‘erbium-devel’ Initialisation script See merge request robots/talos_robot!93

• Redirect applications output to a log file

• Use wait() for shell commands

• Don’t stop default controllers after starting them

• Launch introspection controller too

• Shell command stdin, stdout and stderr are None by default

• Renamed result parameter

• Fixed ati reset retcode usage

• Using ros logging instead

• Initialisation script

• Contributors: Jordan Palacios, jordanpalacios

1.1.5 (2020-05-08)

1.1.4 (2020-05-06)

1.1.3 (2020-03-05)

1.1.2 (2020-01-14)

• Merge branch ‘more_refactor’ into ‘erbium-devel’ remove default safety info from specifics params See merge request robots/talos_robot!84

• remove default safety info from specifics params

• Contributors: Sai Kishor Kothakota

1.1.1 (2020-01-14)

• Merge branch ‘specifics_refactor’ into ‘erbium-devel’ added changes to choose the specifics yamls See merge request robots/talos_robot!82

• Revert “added joints to control script” This reverts commit a73220e081a42dcb94a5742feab0fba07c9944cc.

• added joints to control script

• renamed walking offsets yaml to walking_specific_params.yaml

• added optenv based specific_file_path argument

• added actuator_safety_specific_params file

• added specific configuration of inertia shaping control

• added changes to choose the specifics yamls

• Contributors: Jordan Palacios, Sai Kishor Kothakota

1.1.0 (2020-01-10)

1.0.52 (2019-11-29)

1.0.51 (2019-07-15)

• Merge branch ‘stance_actuators_test’ into ‘erbium-devel’ changed definitiion of safety override See merge request robots/talos_robot!75

• changed definitiion of safety override

• Contributors: Hilario Tome

1.0.50 (2019-07-10)

• Merge branch ‘stance_actuators_test’ into ‘erbium-devel’ Stance actuators test See merge request robots/talos_robot!74

• standing test launches

• Contributors: Hilario Tome

1.0.49 (2019-05-30)

• added head

• Merge branch ‘head_hal_differential’ into ‘erbium-devel’ added head config files See merge request robots/talos_robot!72

• added head config files

• Contributors: Hilario Tome

1.0.48 (2019-03-27)

• Merge branch ‘reenabled_safety’ into ‘erbium-devel’ reenabled safety See merge request robots/talos_robot!71

• reenabled safety

• Contributors: Hilario Tome

1.0.47 (2019-03-19)

• Merge branch ‘actuator_simulation’ into ‘erbium-devel’ working simulator with actuators and torque control on the lower body of talos See merge request robots/talos_robot!70

• added missing gripper actuator parameters

• added missing actuator parameters:

• working simulator with actuators and torque control on the lower body of talos

• Contributors: Hilario Tome

1.0.46 (2019-03-07)

• Merge branch ‘walk_pose’ into ‘erbium-devel’ Update walk pose params format See merge request robots/talos_robot!69

• Update walk pose params format

• Change license to LGPL-3.0

• Contributors: Adrià Roig, Hilario Tome, Victor Lopez

1.0.45 (2018-12-20)

• Merge branch ‘move-dependencies’ into ‘erbium-devel’ Move dependencies to other packages for public packages See merge request robots/talos_robot!68

• Move dependencies to other packages for public packages

• Contributors: Victor Lopez

1.0.44 (2018-11-29)

• Merge branch ‘as_safety’ into ‘erbium-devel’ Add default_safety_parameters.yaml See merge request robots/talos_robot!65

• Drop joint specific safety parameters

• Update default_safety_parameters.yaml

• Add default_safety_parameters.yaml

• Contributors: alexandersherikov

1.0.43 (2018-11-22)

• Load params for v1 too

• Contributors: Jordan Palacios

1.0.42 (2018-11-21)

• Merge branch ‘as_partial_tree’ into ‘erbium-devel’ Update URDFModelParameters (configuration_initializer.yaml) See merge request robots/talos_robot!66

• Update URDFModelParameters (configuration_initializer.yaml)

• Contributors: alexandersherikov

1.0.41 (2018-11-20)

• Merge branch ‘as_param_fix’ into ‘erbium-devel’ Update PlanningModelParameters in configuration_initializer.yaml See merge request robots/talos_robot!67

• Update PlanningModelParameters in configuration_initializer.yaml

• Contributors: alexandersherikov

1.0.40 (2018-11-02)

1.0.39 (2018-10-25)

• Merge branch ‘as_drop_deprecated_cfg’ into ‘erbium-devel’ Drop deprecated CollisionModelParameters See merge request robots/talos_robot!63

• Drop deprecated CollisionModelParameters

• Contributors: alexandersherikov

1.0.38 (2018-10-24)

1.0.37 (2018-10-23)

• Merge branch ‘as_self_coll_merge_test’ into ‘erbium-devel’ As self coll merge test See merge request robots/talos_robot!61

• Temporary revert changes in configuration_initializer.yaml This should allow to merge changes without breaking tests.

• Merge branch ‘as_self_coll_merge_test’ into as_sim_self_collisions

• Update collision model parameters.

• Update collision model parameters.

• Contributors: alexandersherikov

1.0.36 (2018-10-18)

• Merge branch ‘type_current_limit’ into ‘erbium-devel’ fixed type current limit controllers See merge request robots/talos_robot!58

• fixed type current limit controllers

• Contributors: Hilario Tome, Victor Lopez

1.0.35 (2018-10-17)

• deleted changelogs

• Merge branch ‘head’ into ‘erbium-devel’ added open loop parameters See merge request robots/talos_robot!55

• added open loop parameters

• Contributors: Hilario Tome

1.0.34 (2018-09-28)

• Updated changelog

• Contributors: Jordan Palacios

1.0.33 (2018-09-27)

• updated changelog

• Merge branch ‘arm_torque_control’ into ‘erbium-devel’ Arm torque control See merge request robots/talos_robot!53

• more parameters for torque control of upper body

• added no control yaml

• tunning

• started adding analytic dob

• removed dt parameter

• Contributors: Hilario Tome

1.0.32 (2018-09-25)

• Updated changelogs

• Merge branch ‘current_limit_controller’ into ‘erbium-devel’ Current limit controller config and launch file for TALOS See merge request robots/talos_robot!52

• Current limit controller config and launch file for TALOS

• Contributors: Jordan Palacios, Luca Marchionni

1.0.31 (2018-09-12)

• updated changelogs

• Merge branch ‘more_params’ into ‘erbium-devel’ filter factory See merge request robots/talos_robot!51

• filter factory

• Merge branch ‘more_params’ into ‘erbium-devel’ cleanup See merge request robots/talos_robot!49

• increased friction compensantion gains

• cleanup

• Contributors: Hilario Tome

1.0.30 (2018-09-06)

• Updated changelog

• Merge branch ‘as_torso_torque_control’ into ‘erbium-devel’ Support for position control for all joints but torso See merge request robots/talos_robot!50

• Support for position control for all joints but torso

• Contributors: alexandersherikov

1.0.29 (2018-09-03 20:05)

• update changelog

• Merge branch ‘tunnin_dob’ into ‘erbium-devel’ increased dob gains See merge request robots/talos_robot!47

• increased dob gains

• Contributors: Hilario Tome

1.0.28 (2018-09-03 10:22)

• Updated changelog

• Merge branch ‘add-planner-wrapper’ into ‘erbium-devel’ Add new PlanningModelParameters field See merge request robots/talos_robot!46

• Add new PlanningModelParameters field

• Contributors: Victor Lopez, alexandersherikov

1.0.27 (2018-08-28)

• updated changelog

• Merge branch ‘dob_on’ into ‘erbium-devel’ Dob on See merge request robots/talos_robot!45

• changed torque sensor offsets and added dob

• added velocity tolerance parametes

• Merge branch ‘more_params’ of gitlab:robots/talos_robot into tunning

• modified motor inertias

• added velocity filtering params

• Contributors: Hilario Tome

1.0.26 (2018-08-24)

• updated changelog

• Merge branch ‘tunned_dob’ into ‘erbium-devel’ Tunned dob See merge request robots/talos_robot!44

• set of parameters working for balancing on real robot

• Contributors: Hilario Tome

1.0.25 (2018-08-01 15:05)

• updated changelog

• Merge branch ‘moving_support’ into ‘erbium-devel’ added effort controller configuration See merge request robots/talos_robot!40

• added effort controller configuration

• Contributors: Hilario Tome

1.0.24 (2018-08-01 15:03)

• updated changelog

• Merge branch ‘default_controllers’ into ‘erbium-devel’ Fix upper_body launch file See merge request robots/talos_robot!42

• Merge branch ‘arm_hardware’ into ‘erbium-devel’ Arm hardware See merge request robots/talos_robot!41

• removed shaking but modifing the cutoff filter for joint 1 and 2 of the arm

• added segmented controllers for wrist

• added missing params for left arm

• added gripper safety parameters

• added safety parameters for right amr

• Fix upper_body launch file

• fixed arm and torso actuator parameters

• Contributors: Adrià Roig, Hilario Tome

1.0.23 (2018-07-30)

• updated changelog

• Merge branch ‘wbc_grasp_demo’ into ‘erbium-devel’ Fix local_joint_control no control missing gripers See merge request robots/talos_robot!39

• Fix local_joint_control no control missing gripers

• Contributors: Adrià Roig, Hilario Tome

1.0.22 (2018-07-25 18:04)

• Updated changelog

• Merge branch ‘as_configuration_initializer_yaml’ into ‘erbium-devel’ configuration_initializer.yaml: additional parameters See merge request robots/talos_robot!38

• configuration_initializer.yaml: additional parameters

• Contributors: alexandersherikov

1.0.21 (2018-07-25 15:16)

• Updated changelog

• Contributors: alexandersherikov

1.0.20 (2018-07-24 17:10)

• Updated changelog

• Merge branch ‘as_arm_testbench’ into ‘erbium-devel’ Configuration files for separate arm_right See merge request robots/talos_robot!36

• Configuration files for separate arm_right

• Contributors: alexandersherikov

1.0.19 (2018-07-24 11:02)

• Updated changelog

• configuration_initializer.yaml: adjust safety margin

• Merge branch ‘as_controller_utils’ into ‘erbium-devel’ Added utils/: Makefile to send joint commands See merge request robots/talos_robot!24

• Workaround for a delay issue in controller spawner.

• Add configuration_initializer.yaml

• Added README

• Add send_joint_commands.launch, install utils

• Added utils/: Makefile to send joint commands

• Contributors: alexandersherikov

1.0.18 (2018-07-19)

• Updated changelog

• Merge branch ‘moving_support’ into ‘erbium-devel’ Allow no control for head and torso. See merge request robots/talos_robot!34

• Allow no control for head and torso.

• Contributors: alexandersherikov

1.0.17 (2018-07-16)

• updated changelog

• Merge branch ‘hardware_tunning’ into ‘erbium-devel’ Hardware tunning See merge request robots/talos_robot!23

• added parameters for left leg

• added ripple filter cancelation, and inertia compensation to zero

• added pid leg 1 joint

• right leg full initial tunning done

• right leg 3 5 6 joint tunned

• added safety parameters

• Contributors: Hilario Tome

1.0.16 (2018-07-12)

• Updated changelog

• Contributors: alexandersherikov

1.0.15 (2018-07-11)

• updated changelog

• Contributors: Hilario Tome

1.0.14 (2018-07-10)

• Updated changelog

• Merge branch ‘as_plus_head’ into ‘erbium-devel’ Add head to arm-less configuration See merge request robots/talos_robot!30

• Add head to arm-less configuration

• Contributors: alexandersherikov

1.0.13 (2018-07-09)

• Updated changelog

• Contributors: alexandersherikov

1.0.12 (2018-07-04 20:59)

• Updated changelog

• Merge branch ‘as_selective_loading’ into ‘erbium-devel’ Refactoring to allow partial robot loading. See merge request robots/talos_robot!26

• Add default locomotion state, fix controller configs

• Fixed typo in default_controllers.launch

• partial models: launch file renames & refactoring

• Refactoring to allow partial robot loading.

• Contributors: alexandersherikov

1.0.11 (2018-07-04 12:15)

• updated changelog

• Contributors: Hilario Tome

1.0.10 (2018-07-04 10:27)

• updated changelog

• Contributors: Hilario Tome

1.0.9 (2018-06-21)

• Updated changelog

• Contributors: alexandersherikov

1.0.8 (2018-06-20)

• updated changelog

• Merge branch ‘as_fixes’ into ‘erbium-devel’ As fixes See merge request robots/talos_robot!21

• full_body_position_controllers: parametrize controllers

• Contributors: Hilario Tome, alexandersherikov

1.0.7 (2018-06-19 11:08)

• updated changelog

• Contributors: Hilario Tome

1.0.6 (2018-06-19 00:30)

• updated changelog

• Merge branch ‘tunning_hardware’ into ‘erbium-devel’ started adding local joint control parameters See merge request robots/talos_robot!17

• fixed local joint control

• added gripper config files

• finished adding parameters for actuators, they need to be filled with the correct parameters

• started adding local joint control parameters

• Contributors: Hilario Tome

1.0.5 (2018-06-15)

• updated changelog

• Contributors: Hilario Tome

1.0.4 (2018-06-12)

• updated changelog

• Contributors: Hilario Tome

1.0.3 (2018-05-29)

• Update changelog

• Parameters tuning for default robot

• Contributors: Luca Marchionni

1.0.2 (2018-04-18)

• updated changelog

• Merge branch ‘fix_simulation’ into ‘erbium-devel’ fixed gripper command mode: See merge request robots/talos_robot!16

• fixed merge

• fixed gripper command mode:

• Contributors: Hilario Tome

1.0.1 (2018-04-13)

• Update changelog

• Contributors: Victor Lopez

1.0.0 (2018-04-12)

• updated changelogs

• Contributors: Hilario Tome

0.0.24 (2018-04-04)

• Update changelog

• Contributors: Victor Lopez

0.0.23 (2018-02-19)

• updated changelog

• changed grippers to effort control for now

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• added local joint control

• Contributors: Hilario Tome

0.0.22 (2017-11-11)

• Update changelog

• Contributors: Victor Lopez

0.0.21 (2017-11-10)

• Update changelog

• Contributors: Victor Lopez

0.0.20 (2017-08-10 16:33)

• updated changelog

• Contributors: Hilario Tome

0.0.19 (2017-08-10 12:41)

• updated changelog

• Contributors: Hilario Tome

0.0.18 (2017-07-26)

• updated changlog

• added missing depend walk utils

• Contributors: Hilario Tomé

0.0.17 (2017-07-18)

• updated changelog

• Added version v1, v2 for urdf and restored walk_pose

• Contributors: Hilario Tomé, luca

0.0.16 (2017-02-17)

• Updated changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• added use safe mode to joint trajectory controllers

• Contributors: Hilario Tome

0.0.15 (2016-11-16)

• Add changelog

• Contributors: Luca

0.0.14 (2016-11-15 18:27)

• Add changelog

• Params tuning and motions

• Added hardware bringup controllers

• Contributors: Hilario Tome, Luca

0.0.13 (2016-11-15 13:10)

• Add changelog

• Lipm z higher because of covers

• Add missing dependency. Walking params and fixed talos motion

• Contributors: Luca

0.0.12 (2016-11-15 10:01)

• Add changelog

• Remove –stopped param from init_offset_controller

• Cleaninng and renaming v2 to default

• Contributors: Luca

0.0.11 (2016-11-12 14:09)

• Add changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Contributors: Luca

0.0.10 (2016-11-12 12:48)

• Update changelog

• Add missing dependencies to talos_controller_configuration

• Contributors: Victor Lopez

0.0.9 (2016-11-12 11:14)

• Add changelog

• Talos offsets for walking and tuning params

• Contributors: Luca

0.0.8 (2016-11-11)

• Add changelog

• Changed torso joint to Z

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Contributors: Luca

0.0.7 (2016-11-10 18:45)

• Updated changelog

• Fixed bug package depend head action

• Contributors: Hilario Tome

0.0.6 (2016-11-10 18:16)

• Updated changelog

• Moved the files from talos walking to talos controller configuration

• Contributors: Hilario Tome

0.0.5 (2016-11-10 12:06)

• Updated changelog

• motions for talos, tested on robot

• Contributors: Hilario Tome, Luca

0.0.4 (2016-11-09)

• Updated changelog

• Modified bringup

• Contributors: Hilario Tome

0.0.3 (2016-10-31)

• Updated changelog

• Added joint torque control

• Changed head differential, default controllers stopped

• Succesfull walking in talos, added talos teleop

• Added missing depends and completed bringup

• Contributors: Hilario Tome

0.0.2 (2016-10-13)

• Updated changelog

• Contributors: Hilario Tome

0.0.1 (2016-10-12)

• Created intial changelog

• Fixed merge

• Change gripper motor joint to just side_gripper_joint

• Fix gripper controller and add controller launchers for follow joint trajectory controllers

• Fixing

• Renamed tor to talos

• Contributors: Hilario Tome, Sam Pfeiffer