1.4.0

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)