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CHANGELOG.md

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Change log

2.2.1 (2023-12-29)

  • API changes:
    • Add deinterlace for gscam launch for DeckLink cards
  • Deprecated features:
    • None
  • New features:
    • Added -s to publish raw voltages for SUJs
  • Bug fixes:
    • None

2.2.0 (2023-11-21)

  • API changes:
    • ⚠️ All topics measured_cp and setpoint_cp use PoseStamped instead of TransformStamped
    • video.md and video launch files moved to newly created dvrk_video package (still part of this repository)
  • New features:
    • Support for Si PSMs, ECM and SUJ
    • All video related files (launch and md) moved to ROS package dvrk_video to avoid build dependencies on the full dVRK stack
    • Added vcs files (replacing wstool) for dVRK 2.1, 2.2 and devel
    • Added command line options to expose more IO and PID topics
    • dvrk_console_json can locate ros-io-<arm>.json files using internal path, no need to specify the full path
    • All Python examples updated to use newly introduced crtk.ral (ROS Abstraction Layer) and crtk.check_connections
    • Added dvrk_reset_teleoperation.py to reposition MTMs and PSMs to better position between teleoperation tasks, very useful for user studies!
    • dvrk_bag_replay.py: can now replay using setpoint_jp or setpoint_cp, fixed timing, doesn't use full dvrk.psm but creates a light class using crtk.utils, record and send joint velocities for better trajectory following
  • Bug fixes:
    • Many

2.1.0 (2021-08-10)

  • API changes:
    • Potentiometer ROS topics use joint state messages
    • Instrument name is now following the convention name:model[version]. It used to be name_model
  • New features:
    • Added Python example dvrk_bag_replay to replay trajectory from a ROS bag
    • Added Matlab and Python examples for new CRTK feature while move_handle.is_busy()
  • Bug fixes:
    • Python 3

2.0.1 (2021-05-26)

  • API changes:
    • None
  • New features:
    • dvrk_console_json:
      • Added calibration mode (command line option -C) to disable potentiometer checks and saving encoder offsets when calibrating potentiometers
      • Added command line option to use cisstMultiTask state table collectors (-c)
  • Bug fixes:
    • None

2.0.0 (2021-04-08)

  • API changes:
    • All ROS topics have change to follow the CRTK naming convention, see CHANGELOG for sawIntuitiveResearchKit
    • ROS namespaces don't use the prefix dvrk. Use the standard ROS option __ns:= if you need a specific namespace
  • Deprecated features:
    • None
  • New features:
    • Added .rosinstall file
    • Using Matlab and Python client based on CRTK clients - APIs are now consistent across languages
    • Matlab python now used +dvrk to create dVRK package (see https://github.com/collaborative-robotics/crtk_matlab_client)
    • ROS bridge uses cisst-ros CRTK bridge for most ROS topics
    • Added dvrk_hsrv_widget, a simple widget that can be displayed in surgeon's console to show dVRK status
    • Added experimental script to calibrate PSM joint 3 (inserttion joint): dvrk_calibrate_potentiometer_psm.py
    • Added dvrk_arm_from_ros which allows to create a dVRK console with a remote arm over ROS. This can be used for tele-operation across network
    • More topics exposed, endoscope focus, volume, beep, text to speech, forward kinematic... See full API: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/API-2.x
  • Bug fixes:
    • Better ROS shutdown for C++ applications
    • Support ctrl-c for Python code
    • Plenty

1.7.0 (2019-04-09)

  • API changes:
    • ROS namespaces are now relative, dvrk_console_json uses the namespace dvrk/, not /dvrk/.
  • Deprecated features:
    • Old deprecated examples have been removed
  • New features:
    • Support Python3
    • Log file (cisstLog.txt) is now timestamped
    • ROS topics to:
      • Set velocity/acceleration ratio for trajectory generation
      • Set and check active teleop PSM components
  • Bug fixes:
    • Fixed issue with coag being hidden if used for operator present
    • Launch files use xacro, not the deprecated xacro.py

1.6.0 (2018-05-16)

  • API changes:
    • None
  • Deprecated features:
    • None
  • New features:
    • dvrk_robot:
      • Add tf2 support
      • Multiple threads used, one for publishers, one for tf2 and one for subscribers. This reduces latency on all subscribers
      • Publishes interval statistics for IO component as well as ROS bridges
      • SUJ joint state subscriber when in simulation mode
      • Added psm set_effort_jaw subscriber
    • Python:
      • Added PSM effort test program
      • Added cartesian impedance MTM test program
    • dVRK logo available in STL format for RViz and Gazebo
    • video.md: added some documentation and launch files for DeckLink frame grabbers
  • Bug fixes:
    • Fixed missing latch on event publishers
    • dvrk_console_json should now quit on ctrl+c

1.5.0 (2017-11-07)

  • API changes:
    • dvrk_robot:
      • Update to match new arm state machine
      • Joint commands are now using joints for kinematics only. On PSM, jaw is not the last joint anymore, it has its separate topics
      • PSM jaw and MTM gripper now use joint state to report position/velocity/effort
      • Better support for console/footpedals events
    • Python:
      • Added blocking/non blocking flag for move commands using trajectory generation
    • Matlab:
      • Added flag to send direct move commands (vs. trajectory goals)
      • Removed all callbacks since these tended to block the interpreter, now use getters to get latest value received. Getters return timestamp as well.
      • Added ecm.m, console.m and teleop_psm.m
      • Code factorization for all conversion methods
    • Models/URDF:
      • PSM now subscribes to joint state for jaw to control last joint
      • Added crude models for 5mm tools
      • Fixed some xacro warnings
  • Deprecated features:
    • None
  • New features:
    • dvrk_robot:
      • Teleop now has an event to track if PSM is folowing master
      • SUJ publishes joint state
      • Publishes io interval statistics
      • Added topics for cartesian impedance controller + examples
      • Support for some topics when using generic MTMs (Falcon/ForceDimension)
    • Python:
      • Added test/example programs in dvrk_python/scripts
      • Added subscribers for jacobians, set effort joint
    • Matlab:
      • Added test/example programs in dvrk_matlab/test
      • Added subscribers for jacobians, set effort joint
  • Bug fixes:
    • dvrk_calibrate_potentiometers now uses arm.py

1.4.0 (2016-08-31)

  • API changes:
    • Python:
      • API uses numpy arrays for joints and PyKDL for 3D commands, no more Python arrays/lists
      • Import as a package using import dvrk
      • Added base class arm.py with common features as well as mtm.py, ecm.py, psm.py for arm specific topics
      • Added wrappers console.py, suj.py and psm-teleop.py for corresponding ROS topics
    • Matlab:
      • API more closely matches Python interface
      • Use with CAUTION, it works fine in interactive mode but in a script, Matlab tends to never call the ROS spin function and the callbacks are failing. See more comments in the dvrk_matlab readme.md
  • Deprecated features:
    • Message types have changed to take adavantage of Stamped data type (mostly for timestamps). See compatibility mode in new features.
    • dvrk_kinematics, dvrk_teleop and rqt_dvrk are now deprecated, still available in directory deprecated
  • New features:
    • dvrk_robot:
      • Added many topics to match more closely the C++ available commands (see dVRK API wiki page)
      • Added compatibility mode to maintain old topic names and message types. For example, dvrk_console_json has the option --compatibility <value> : compatibility mode, e.g. "v1_3_0", "v1_4_0" (optional)
  • Bug fixes:
    • Better timestamps (cisst-ros new feature)

1.3.0 (2016-01-08)

  • API changes:
    • Python: now import as a package using import dvrk_python.robot
  • Deprecated features:
    • None
  • New features:
    • Potentiometer calibration script: dvrk_robot/scripts/dvrk_calibrate_potentiometers.py
    • dvrk_robot: added low level IO data collection for pots/joints/actuators (see potentiometer calibration wiki)
    • dvrk_robot: added set_wrench topics
    • dvrk_robot: console supports kinematic simulation with RViz (optional)
  • Bug fixes:
    • None

1.1.1 (2015-10-18)

  • Change log file created
  • API changes:
    • Removed joint_publisher python code, now use topics directly from dVRK C++ stack (so much cleaner!)
    • Config file name, urdf and rviz, use dVRK C++ arm naming convention, i.e. PSM1, not psm_one, ...
    • Updated al urdf code to handle arm name as parameter (e.g. PSM1, PSM2)
  • Deprecated features:
    • None
  • New features:
    • dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types
    • dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types
  • Bug fixes:
    • fixed urdf for PSM jaw angle
    • ...