Changelog for package dbw_mkz_can

1.6.5 (2024-01-02)

• Warn when the unsupported DBW2 system is detected at runtime and suggest the correct package
• Contributors: Kevin Hallenbeck

1.6.4 (2023-09-11)

• Bump firmware versions
• Add one-pedal-drive mode status
• Add ready flag to GearReport message
• Contributors: Kevin Hallenbeck

1.6.3 (2023-05-10)

• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.6.2 (2023-01-24)

• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.6.1 (2023-01-06)

• Specify Python3 for scripts (no more ROS Melodic with Python2)
• Add P702 platform (2021+ F-150)
• Add warning for steering configuration fault
• Contributors: Kevin Hallenbeck

1.6.0 (2022-11-30)

• Bump firmware versions
• Change unsigned vehicle speed to signed vehicle velocity
• Contributors: Kevin Hallenbeck

1.5.2 (2022-05-13)

• Periodically publish DBW enabled status in addition to latched and on change
• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.5.1 (2022-03-08)

• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.5.0 (2022-02-23)

• Add Ford Mustang Mach-E
• Add electric parking brake control
• Rename TurnSignalCmd to MiscCmd
• Contributors: Kevin Hallenbeck

1.4.1 (2021-09-20)

• Bump firmware versions
• Add reserved bits
• Improve printing of license info
• Add ignition status to ThrottleInfoReport
• Add user control of alert
• Contributors: Kevin Hallenbeck

1.4.0 (2021-05-12)

• Bump firmware versions
• C++17 and std::clamp()
• Remove ROS Kinetic support
• Populate brake/throttle/steering command values even if enable is false
• Fix socketcan error frame lock up
• Contributors: Kevin Hallenbeck, Robert Maupin

1.3.2 (2021-03-09)

• Bump firmware versions
• License multiple features individually
• Add option to use socketcan hardware
• Add Ford Edge platform
• Contributors: Kevin Hallenbeck

1.3.1 (2021-01-14)

• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.3.0 (2020-11-18)

• Add brake pedal actuator brake type
• Add Ford Ranger platform
• Add reserved bit to prevent warnings
• Add battery current measurement
• Contributors: Kevin Hallenbeck, Sun Hwang

1.2.11 (2020-08-17)

• Bump firmware versions
• Contributors: Kevin Hallenbeck

1.2.10 (2020-08-05)

• Only publish joint states from DbwNode if set to load URDF model The joint states messages from DbwNode collide with the joint states published by the Gazebo simulator otherwise.
• Change names of joints to be different from links Gazebo 11 doesn't let joint names and link names be the same, which was allowed in earlier versions
• Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.2.9 (2020-07-09)

• Add gear reject enumerations
• Increase CMake minimum version to 3.0.2 to avoid warning about CMP0048 http://wiki.ros.org/noetic/Migration#Increase_required_CMake_version_to_avoid_author_warning
• Contributors: Kevin Hallenbeck

1.2.8 (2020-02-20)

• Update firmware versions
• Contributors: Kevin Hallenbeck

1.2.7 (2020-02-14)

• Update firmware versions
• Report NAN for signals that are unavailable/faulted
• Use fewer function calls to setup message sync
• Add Lincoln Aviator to list of platforms
• Contributors: Kevin Hallenbeck

1.2.6 (2019-11-11)

1.2.5 (2019-10-30)

• Add steering wheel buttons in Misc1Report
• Contributors: Kevin Hallenbeck, Sun Hwang

1.2.4 (2019-09-13)

• Added argument to enable/disable CAN message filtering on DBW message range
• Contributors: Kevin Hallenbeck

1.2.3 (2019-08-13)

• Updated firmware versions
• Updated website maintenance link
• Contributors: Kevin Hallenbeck

1.2.2 (2019-07-24)

• Extend licensing to each module
• Contributors: Kevin Hallenbeck, Sun Hwang

1.2.1 (2019-07-11)

• Updated firmware versions
• Added support for non-hybrid brake report values
• Added gear number to throttle info message
• Added throttle and brake limp-home statuses
• Contributors: Kevin Hallenbeck, Sun Hwang

1.2.0 (2019-05-03)

• Added angle/torque steering command modes (not supported on all platforms)
• Added warnings for unknown and unsupported command types
• Added support for firmware change that uses SVEL resolution of 4 deg/s
• Added FORD_C1 platform
• Added script to estimate the number of wheel counts per killometer
• Added odometer and battery voltage to fuel level report
• Added casts to force single precision floating point math
• Contributors: Kevin Hallenbeck

1.1.2 (2019-03-14)

1.1.1 (2019-03-01)

• Updated firmware versions
• Refactored tcpNoDelay() for subscribers
• Added missing tests for PlatformVersion.h
• Contributors: Kevin Hallenbeck

1.1.0 (2018-11-30)

• Updated firmware versions
• Removed all BOO control options and manually implemented auto BOO control for legacy firmware (brake lights)
• Added BTYPE (brake type) bit
• Added CMD_DECEL brake command type (only for non-hybrid platforms)
• Replaced dbw_mkz_twist_controller with dataspeed_ulc_can in dbw.launch
• Added throttlePercentFromPedal lookup table function and corresponding test
• Use the ${catkin_EXPORTED_TARGETS} macro for target dependencies
• Added DriverAssistReport message
• Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.17 (2018-10-27)

• Updated firmware versions
• Updated list of platforms
• Disengage on any fault for brake/throttle/steering (change AND to OR)
• Added outside air temperature to Misc1Report
• Latch firmware version on any change (previously only latched once)
• Changed pedal_luts default from true to false (forward command type by default now)
• Fixed handling of all the firmware/module requrements for brake command type CMD_TORQUE_RQ
• Disregard overrides on unused subsystems using the TIMEOUT bit
• Fixed typo in nodelets.xml of dbw_mkz_can
• Finished unit tests of PlatformMap
• Use sign of wheel speeds to set sign of vehicle speed, fixes issue #24
• Set CXX_STANDARD to C++11 only when necessary
• Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.16 (2018-08-29)

• Force compiler to use C++11
• Handle version message with a map/database of several platform/module combinations
• Implemented firmware version requirements for forwarding pedal command type
• Contributors: Kevin Hallenbeck

1.0.15 (2018-08-21)

• Updated firmware versions
• Contributors: Kevin Hallenbeck

1.0.14 (2018-08-20)

• Updated firmware versions
• Enabled code coverage testing when built as debug
• Increased the steering command range to +-INT16_MAX, the specific range limit is applied by the firmware
• Skip warning about brake and throttle commands when the reserved bit is set
• Match CAN messages 0x060 to 0x07F even though some are unused
• Capitalized the COUNT field to match code style
• Added parameter for local/embedded pedal LUTs
• Added option to forward higher level pedal commands (percent/torque) to the embedded modules
• Added unit tests for exported header files
• Extracted sonar color to a separate function
• Added missing include
• Contributors: Kevin Hallenbeck

1.0.13 (2018-06-06)

• Updated firmware versions
• Added option to enable/disable warnings on received command messages
• Added support for the RES+ and RES- buttons
• Added explicit casts to float
• Added firmware version of separate shifting module
• Contributors: Kevin Hallenbeck

1.0.12 (2018-01-30)

• Updated firmware versions
• Moved ModuleVersion class and look-up-tables to exported header files (for use by other packages)
• Added power fault bit to report when modules lose power
• Added missing warning about steering fault preventing enable
• Added roslaunch argument to set use_sim_time or not
• Added roslaunch tests
• Only warn once for each unknown module version
• Contributors: Kevin Hallenbeck

1.0.11 (2017-10-19)

• Updated firmware versions
• Added missing dependencies
• Contributors: Kevin Hallenbeck

1.0.10 (2017-10-03)

• Updated steering firmware version
• Renamed feature name
• Contributors: Kevin Hallenbeck

1.0.9 (2017-09-19)

• Added warning to update old firmware
• Added link to request a license
• Added more detail to fault warnings
• Contributors: Kevin Hallenbeck

1.0.8 (2017-09-07)

• Migrated from dataspeed_can_msgs to can_msgs
• Contributors: Kevin Hallenbeck

1.0.7 (2017-08-21)

• Removed steering report driver activity bit
• Replaced connector fault with timeout, and warn on timeout
• Keep track of module firmware versions
• Added gear rejection enumeration to gear report
• Added licensing and VIN
• Added wheel positions report (replaces suspension report)
• Added option to use buttons for enable/disable, or not
• Added enable button combination for Mondeo without ACC (set_dec and cc_res)
• Added steering wheel left D-Pad buttons
• Updated ackermann steering parameters (including steering ratio)
• Prioritize the local include folder (there were issues with catkin workspace overlays)
• Fixed accel orientation to match the ROS standard
• Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.6 (2017-06-21)

• Added frame_id parameter for IMU and Twist messages
• Properly handle IMU unknown covariance and fields that are not present
• Removed SuspensionReport (data was unintelligible)
• Reorganized launch files.
• Swapped lateral and longitudinal acceleration in IMU message.
• Export dispatch.h for use by other packages
• Added clear bit to command messages
• Updated nodelet to the PLUGINLIB_EXPORT_CLASS macro
• Additional dependencies
• Contributors: Kevin Hallenbeck, Micho Radovnikovich

1.0.5 (2017-04-25)

• Updated package.xml format to version 2
• Unique target names
• Contributors: Kevin Hallenbeck

1.0.4 (2016-12-06)

• Added brake and throttle thrashing scripts to try and induce faults
• Changed wheel speeds to signed values
• Contributors: Kevin Hallenbeck, Joshua Whitley

1.0.3 (2016-11-17)

• Added QUIET bit to disable driver override audible warning
• Print brake/throttle/steering firmware versions
• Handle and report steering faults (FLTBUS1 and FLTBUS2)
• Contributors: Kevin Hallenbeck

1.0.2 (2016-11-07)

• Configurable steering ratio
• Contributors: Kevin Hallenbeck

1.0.1 (2016-10-10)

• Added support for apt-get binary packages
• Added twist message computed from vehicle speed and steering wheel angle.
• Contributors: Kevin Hallenbeck

1.0.0 (2016-09-28)

• Initial release
• Contributors: Kevin Hallenbeck, Micho Radovnikovich