2.2.0

2.2.0 (2023-11-21)

• API changes:
  • Configuration files specific to each system/group shouldn't be stored in share directory anymore. We created https://github.com/dvrk-config to host repositories of configuration files. e.g. for JHU https://github.com/dvrk-config/dvrk_config_jhu
  • More CRTK and snake_case renaming
  • PID config file is now using JSON
• Deprecated features:
  • Ubuntu 16.04 is not supported anymore
  • Ubuntu 18.04 requires using clang as compiler (see documentation)
  • Matlab based configuration generator. Use dvrk-config-generator.py instead
  • base-frame for SUJ, wasn't used
  • rotation configuration parameter for PSM teleoperation, Use the base-frame in console JSON configuration file instead.
  • mainQtArm application, should use sawIntuitiveResearchKitQtConsole instead
• New features:
  • Support for ROS2 and ROS1 on Ubuntu 20.04 (Galactic/Noetic) and ROS2 on Ubuntu 22.04 (Humble)
  • Support for Si PSMs and ECM
    • IO, PID and kinematics and tool detection working, missing gravity compensation
    • New potentiometer calibration program specific to Si arms
    • Added support for Si SUJ, calibration remains tricky
  • Support for new Classic controllers with a single FPGAv3 (DQLA vs QLA1)
  • Control:
    • PID (see also sawControllers CHANGELOG):
      • Control using actuator space (was using joint space)
      • Removed non-linear gains, fixed deadband transitions
      • Use reference velocity
    • PSM teleoperation:
      • Use MTM pose and twist to control PSM, PSM PID now uses reference actuator positions and velocities
  • SUJ:
    • Refactor of SUJ Classic code
    • Added Fixed SUJ for groups using custom frame to mount their PSMs and ECM
    • Option to set any arm as reference arm. By default all arm cartesian poses are wrt ECM but this can be changed to any PSM for groups using PSM-held camera
  • New ROS features:
    • Publisher arm/local/measured_cv
    • Publisher arm/gravity_compensation/setpoint_js provides torques used for gravity compensation
    • Services arm/forward_kinematics and arm/inverse_kinematics
    • Publisher arm/crtk_version (i.e. 1.1.0)
    • Subscribers arm/free and arm/hold
    • Subscriber arm/pid_feed_forward/servo_jf to allow user to add their own feed forward
    • Subscriber teleop_PSM/following/mtm/body/servo_cf to add haptic only when teleop is active
    • Add ral (ROS Abstraction Layer) for CRTK Python client so Python scripts can be used with either ROS1 or ROS2
  • New sawRobotIO1394 config generator (Python based), also generates a simple arm and console JSON configuration file
  • More instrument definitions
  • Added dvrk-sd-card-updater.py to update firmwares for SD cards using in new controllers (Classic with DQLA/FPGAv3 and Si with dRA1/FPGAv3) and Si ESPM
  • Added dvrk-remove-log.py to cleanup old cisstLog files
  • CMake:
    • Updated install targets and debian packages generation
    • Works with ROS2/colcon
• Bug fixes:
  • daVinci head sensor: fixed bit Id so all four sensors are used
  • Engage procedures are stopped when adapter/instrument is removed
  • Fixed some transitions for PSM jaw control (move to/from servo)
  • Fixed emulate adapter/tool