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

Release v2.9.1

Fixes

• [debian] Package dependency fix in Jammy and later releases
• [cmake/ROS] Do no let ament intefere with the uninstall target

Release v2.9.0

Added

• [mc_rtc] Added beta version of mc_rtc::Schema (#396)
• [mc_rtc] Logs now contain the initial configuration of the robot (#398)
• [mc_rtc] Logs now contain the force sensors' calibration parameters (#398)

Fixes

• [debian] Fix the ros-@ROS_DISTRO@-mc-rtc-plugin package in ROS2
• [Replay] Use new information in the logs to improve replay accuracy (#398)
• [utils/mc_log_ui] Fix comparison loading in Python 3

Release v2.8.0

Added

• [mc_control] Added motor status to joint sensor (#395)
• [mc_control/FSM] Posture tasks' reset can be disabled (#389)
• [mc_rtc/Configuration] Added support for std::variant (#393)
• [mc_rtc/Configuration] Added Configuration::find (#393)
• [mc_rtc/GUI] Added form elements to provide more complex forms (#394)

Changes

• [mc_control/FSM] FSM embedded in a Meta state no longer reset the posture at transition by default (#389)

Fixes

• [mc_observers] KinematicInertial uses the correct function from state-observation (#391)
• [mc_solver] Fix a crash in monitor activation
• [mc_tvm] Correctly include refAccel in Orientation|PositionFunction

Release v2.7.0

Added

• [bindings] Add bindings for ControllerClient (#384)
• [mc_rtc] Allow to override existing log entries (#383)
• [mc_rtc] Allow "chunky" XY plot updates (#386)
• [mc_solver] ConstraintSet now has an update mechanism (#381)
• [Samples: CoM] Support the Pepper robot

Changes

• [StabilizerTask] Improve force distribution and CoP horizon reference (#375)
• [mc_rbdyn] Convex objects are now automatically updated (#385)
• [mc_solver] Collision constraint automatically display distance arrows when the distance falls below the interaction distance (#381)

Fixes

• [bindings] Fix build for Cython >= 3.0.0
• [cmake] Fix issue with yaml-cpp >= 0.8.0
• [mc_control] Fix logging of plugin performances (#383)
• [mc_observers] KinematicInertial uses function from state-observation (#388)
• [mc_rbdyn] Fix loading of devices with canonical robots (#379)
• [mc_rbdyn] Fix compilation with geos >= 3.12.0
• [Replay] Fix output replay on fixed-based robots
• [Replay] Avoid precision issue when comparing controller timestep with replay timestep