ros-kinetic-loki-base-node (0.2.2-0xenial) xenial; urgency=high

  * Publish all sonars on a single topic /sonars, in addition to individual topics
  * Contributors: Jim Vaughan

 -- Wayne Gramlich <Wayne@gramlich.net>  Sun, 04 Feb 2018 08:00:00 -0000

ros-kinetic-loki-base-node (0.2.1-0xenial) xenial; urgency=high

  * fix cmake error from rename
  * Contributors: Rohan Agrawal

 -- Wayne Gramlich <Wayne@gramlich.net>  Sat, 30 Dec 2017 08:00:00 -0000

ros-kinetic-loki-base-node (0.2.0-0xenial) xenial; urgency=high

  * change package name from bus_server to loki_base_node
  * Contributors: Rohan Agrawal

 -- Wayne Gramlich <Wayne@gramlich.net>  Sat, 30 Dec 2017 08:00:00 -0000

ros-kinetic-loki-base-node (0.1.1-0xenial) xenial; urgency=high

  * Added minor travis stuff
  * Contributors: Rohan Agrawal

 -- Wayne Gramlich <Wayne@gramlich.net>  Thu, 14 Apr 2016 07:00:00 -0000

ros-kinetic-loki-base-node (0.1.0-0xenial) xenial; urgency=high

  * Added sonar statistics install rule
  * Updated package.xml
  * Added install rules
    to make sure python scripts are runnable in non-devel environments (such as installing from debs)
  * Changed minimum sensor range to .15
  * Fixed typo for /dev/ttyAMA0
  * Merged
  * Fixed /dev/ttyACM0=>/dev/ttyAMA0
  * Use default ports if no port parameter is specified.
  * Got dynamic sonar scheduling to work.
  * Continuing to work on Sonars.
  * Changed the strategy for managing clock skew between the robot and ROS.
  * Added class/left_id/right_id fields to each Sonar.  These can be specified in the .yaml file and get reflected by bus_server.py to through to the robot firmware.  These fields are needed for dynamic sonar scheduling.
  * Updated the descriptive text at the beginning of bus_server.py .
  * Added Twist (cmd_vel) and transfer PID parameters to robot.
  * Merge branch 'master' of https://github.com/UbiquityRobotics/bus_server
  * Got odometry work in bus_server.py.
  * Got odometry working.
  * Refactored dead reckoning code into Dead_Reckon class.
  * Merge branch 'master' of https://github.com/UbiquityRobotics/bus_server
  * Backing down PID loop debug to minimal
  * Merge branch 'master' of https://github.com/UbiquityRobotics/bus_server
  * Got sonar sensers to publish range topics all the way to RViz.
  * Increase PID rate and fix problem with initial going backwards at slow speeds. Also have debug serial to the bus_uart in PID loop which is on for now but can be disabled.
  * Fixed typo with a duplicate left encoder set.
  * Started adding sonar support to bus_server.py.
  * Added in accidentally deleted code that sets encoders in PID code chunk.  Me bad.
  * Rearranged bus_server.py to have all of the imports in one place.  Added main() and made the last line of code in the file run main().
  * Created bus_server.py by concatenating all of the ROS Aduino bridge python files into one.  This code will not work.
  * Added sonars to queue command.
  * Added q command to bus server.  Some minor clean up on encoder interface.
  * Making the Do PID param be Ko as other places like that term more.  No actual functional change with this cleanup
  * Change PID loop rate to 10 hz and put command u for pin params in order of  Kp Kd Ki Do Ci to better match how it was before Ci appeared.  also if we use 'u 1' with less than 5 params we print params and don't set them.
  * Removed concept of unit number for sonars.
  * Refactored the code so that Sonar.{h,cpp} no longer needs RAB_Sonar{h,cpp}.  This touched a bunch of files.
  * Removed pin definitions from bus_loki and Sonar.
  * Removed unused and unneed encoder registers from bus_sonar10.
  * Got bus_sonar10 to return ficticious sonar data over the bus.
  * Refactored bus_server, bus_loki, and bus_freya to add the RAB_Sonar class.  This is prepatory work for bus_sonar10.
  * Change pid update to 25hz from 5hz. Add cap for speeds in z command. Change the debug PID override mode so you must set debug flag  to enable PID override when Kp is 0 so we can better tune pid without it interfering.  IMPORTANT:  Adding integral cap term so the u command has 5 terms now as Kp Kd Ki Ci Do   where new term is Ci as integral cap to avoid runaway integral term issues
  * Adding description of serial commands we support
  * Adding description of serial commands we support
  * Added a debug to support periodic print of sonar meas error counters for minimally evasive debug
  * Return distances in Cm now per correct way ROS expects the values
  * Switch the p command to read from cached in-ram prior measurements.  Added back in the o which does inline measurement.  Returned values for Sonar are still in mm.
  * Changed 'o' command to 'p' command.
  * Adding system_debug_flags for dynamic changing of what is printed to serial port.  Should act like before by default is the intention.  Flags in bus_server.h
  * Fixes to non-PID motor control when Kp is set to 0 and support for reading all sonars or just one using o command
  * Renamed x command to z command.  z command sets the motor speeds without using PID loop.
  * Removed some debugging code.  Removed a minus sign on the right motor speed.
  * Got Loki encoders working.
  * Upgrade to new Bus_Motor_Encoder API that has encoder get/set and pwm set methods.
  * Wrapped up Bridge object conversion.
  * More conversion over to Bridge object.
  * Started transition over to Bridge object.
  * More Freya/Loki refactoring.
  * Finished refactoring Freya code.
  * Started refactoring Freya and Loki code.
  * Remove serial input echo so ROS Arduino Bridge functions properly.  Added option to invert encoder sense but have left it to be functionally as it was before so it is a debug compile time option.
  * Lot's of code refactoring.
  * Got bus_server to talk to bus_bridge_encoders_sonar on the bus.
  * Converted code into Bus_Server class.  Added in some serial port code from the Configurator project.
  * Got bus_server_server to respond to messages from bus_bridge_encoders_sonar .
  * Added missing Frame_Buffer.cpp/h
  * Refactored sharable code from bus_raspberry_pi.
  * Added BusInt{8,16,32}{Get,Set}.srv RCP messages.
  * Initial commit.
  * Contributors: Mark, Rohan Agrawal, Wayne C. Gramlich, Wayne Gramlich

 -- Wayne Gramlich <Wayne@gramlich.net>  Sun, 17 Jan 2016 08:00:00 -0000


