ypspur_ros

Package summary

This package provides a ROS wrapper node for YP-Spur vehicle control backend. The wrapper node supports almost all features provided by YP-Spur including vehicle control, digital IO, A/D input, multi-DOF joint control, etc.

This package requires the latest version of YP-Spur.

Nodes

ypspur_ros

Wrapper node.

joint_tf_publisher

sensor_msgs/JointState message to tf converter.

joint_position_to_joint_trajectory

ypspur_ros/JointPositionControl to trajectory_msgs/JointTrajectory converter.

License

ypspur_ros is available under BSD license.

Changelog for package ypspur_ros

0.6.0 (2024-04-17)

• Add option to publish digital input data separately (#128)
• Contributors: Seiga Kiribayashi

0.5.0 (2024-04-02)

• Add option to stop control on system time jump (#125)
• Contributors: Atsushi Watanabe

0.4.0 (2024-03-28)

• Add option to wait convergence of joint trajectory angle and velocity (#122)
• Use control simulation in yp-spur instead of ypspur_ros (#120)
• Fix code format (#121)
• Update assets to v0.6.4 (#119)
• Update assets to v0.6.3 (#118)
• Contributors: Atsushi Watanabe, Kazuki Takahashi

0.3.6 (2024-01-10)

• Avoid publishing joint messages with duplicate stamps (#115)
• Update assets to v0.6.2 (#114)
• Update assets to v0.6.1 (#113)
• Update assets to v0.6.0 (#112)
• Update assets to v0.5.2 (#111)
• Update assets to v0.5.1 (#110)
• Update assets to v0.5.0 (#109)
• Update assets to v0.4.2 (#108)
• Update assets to v0.4.1 (#107)
• Update assets to v0.4.0 (#106)
• Update assets to v0.3.4 (#102)
• Update assets to v0.3.3 (#101)
• Update assets to v0.3.2 (#100)
• Contributors: Atsushi Watanabe, Mark Hedley Jones

0.3.5 (2021-06-16)

• Avoid publishing duplicated odometry (#97)
• Update assets to v0.3.1 (#96)
• Update assets to v0.3.0 (#95)
• Update assets to v0.2.0 (#94)
• Migrate to tf2 (#93)
• Update assets to v0.1.5 (#92)
• Add LICENSE file (#91)
• Contributors: Atsushi Watanabe, Naotaka Hatao, f-fl0

0.3.4 (2020-12-23)

0.3.3 (2020-12-23)

• Update assets to v0.1.4 (#86)
• Contributors: Atsushi Watanabe

0.3.2 (2020-12-23)

• Update ypspur version (#83)
• Update assets to v0.1.3 (#82)
• Update assets to v0.1.2 (#81)
• Migrate to GitHub Actions (#79)
• Update assets to v0.0.10 (#78)
• Update assets to v0.0.9 (#76)
• Update CI scripts (#77)
• Update cmake version of cmake_minimum_required() from 2.8.3 to 3.0.2 (#75)
• Update assets to v0.0.8 (#72)
• Add Noetic CI job and pre-release test jobs (#69)
• Update assets to v0.0.7 (#68)
• Update assets to v0.0.6 (#67)
• Contributors: Atsushi Watanabe, Kazuki Takahashi, Seiga Kiribayashi

0.3.1 (2019-12-16)

• Fix communication error handling (#64)
• Drop support for yp-spur<1.17.0 to simplify the code (#63)
• Add sleep to ensure publishing rosout before exit (#61)
• Fix coding style (#62)
• Add post-release test script (#58)
• Disable CI build on indigo (#59)
• Contributors: Atsushi Watanabe

0.3.0 (2019-05-09)

• Add parameter to set expire duration of cmd_vel (#55)
• Ignore outdated JointTrajectory command (#54)
• Fix exception type (#52)
• Fix subprocess handling (#48)
• Add device error status diagnostic output (#46)
• Fix test dependencies and update manifest (#42)
• Contributors: Atsushi Watanabe

0.2.0 (2018-06-07)

• Add CI build for melodic (#37)
  • Also rename ci script directory
• Add encrypted token for image caching (#35)
• Migrate to ROS recommended namespace model (#31)
• Fix --enable-get-digital-io arg to ypspur-coordinator (#33)
• Fix installation of nodes (#30)
• Fix variable and class naming styles (#29)
• Contributors: Atsushi Watanabe

0.1.0 (2018-04-19)

• Update CI settings (#25)
  • Use docker hub as a cache
• Fix build dependencies (#24)
  • Fix cmake target build deps
  • Fix package deps
• Fix joint state timestamp coherency (#23)
  • Fix joint state timestamp coherency
  • Use system time if yp-spur didn't provide stamp
• Add build test on indigo. (#20)
• Fix coding style. (#19)
• Fix timestamp in simulation mode. (#18)
• Add build test. (#17)
  • Add build test.
  • Fix indent in CMakeFile.
  • Fix package deps.
• Support running ypspur-coordinator by using PATH env. (#14)
• Use find_package(ypspur) instead of catkin_package. (#12)
• Use CMake version of ypspur. (#10)
  • Also, fix dummy dependency to system_lib.
• adds README (#9)
• publishes digital input port state (#8)
• fixes to compile with old versions of YP-Spur which does not have joint_ang_vel command
• adds error handling on joint trajectory control
• joint_position_to_joint_trajectory: temporary removes time to accelerate
• joint_position_to_joint_trajectory: skips duplicated joint command
• joint_position_to_joint_trajectory: takes care of the current joint position
• adds joint_position_to_joint_trajectory converter
• fixes uncleared joint trajectory command cache
• increases cmd_joint input buffer
• allows divided joint trajectory command
• adds joint trajectory control
• fixes DIO default status parameter setting
• supports joint effort output (#4)
  • This also fixes a bug that joint effort field was filled by velocity value on the version of YP-Spur without joint control support.
• changes default vel/acc settings to use values defined in the parameter file
• fixes ypspur-coordinator process monitoring
• adds vehicle control mode interface
• fixes digital IO control
• adds param to set tf timestamp offset
• adds simple simulation of robot control and joint angle control
• adds ros::shutdown before quiting the main loop
• fixes A/D output message type
• joint_tf_publisher: adds node to generate tf messages from joint topic
• adds combined joint position control input
• adds parameters to specify A/D port name in the output message
• adds digital I/O port output
• changes A/D related parameter names (ad_enable0 to ad0_enable)
• changes names of the joint control inputs according to the specified joint names
• supports more than two joint control
• adds retry and error handling in getID script
• improves ypspur-coordinator availability check
• ROS interface of the mobile robot control platform "YP-Spur"
• Contributors: Atsushi Watanabe