ros-kinetic-cob-twist-controller (0.7.13-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Mon, 05 Apr 2021 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.12-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Tue, 20 Oct 2020 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.11-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Fri, 20 Mar 2020 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.10-2xenial) xenial; urgency=high

  * Merge pull request #227 <https://github.com/ipa320/cob_control/issues/227> from LoyVanBeek/feature/python3_compatibility
    [ci_updates] pylint + Python3 compatibility - kinetic
  * disable simple_script_server import error
  * Use six.moves.input for all uses of raw_input/input
  * fix modules
  * fix pylint errors
  * python3 compatibility via 2to3
  * Merge pull request #225 <https://github.com/ipa320/cob_control/issues/225> from fmessmer/ci_updates_kinetic
    [travis] ci updates - kinetic
  * catkin_lint fixes
  * Contributors: Felix Messmer, Loy van Beek, fmessmer

 -- Felix Messmer <felixmessmer@gmail.com>  Tue, 17 Mar 2020 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.9-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Wed, 06 Nov 2019 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.8-2xenial) xenial; urgency=high

  * Merge pull request #210 <https://github.com/ipa320/cob_control/issues/210> from fmessmer/missing_target_dependency
    add missing target dependency
  * add missing target dependency
  * Contributors: Felix Messmer, fmessmer

 -- Felix Messmer <felixmessmer@gmail.com>  Thu, 08 Aug 2019 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.7-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Mon, 05 Aug 2019 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.6-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Thu, 06 Jun 2019 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.5-2xenial) xenial; urgency=high

  * Merge pull request #206 <https://github.com/ipa320/cob_control/issues/206> from fmessmer/improve_lookat_extension
    improve lookat extension
  * implement lookat_pointing_frame
  * fix lookat_chain offset, allow KinematicExtension to fail, param-config converter functions
  * Contributors: Felix Messmer, fmessmer

 -- Felix Messmer <felixmessmer@gmail.com>  Sun, 19 May 2019 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.4-2xenial) xenial; urgency=high



 -- Felix Messmer <felixmessmer@gmail.com>  Thu, 04 Apr 2019 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.3-2xenial) xenial; urgency=high

  * Merge pull request #197 <https://github.com/ipa320/cob_control/issues/197> from ipa320/fmessmer-patch-1
    add missing install tags
  * add missing install tags
  * Contributors: Felix Messmer

 -- Felix Messmer <felixmessmer@gmail.com>  Wed, 13 Mar 2019 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.2-2xenial) xenial; urgency=high

  * update maintainer
  * Contributors: fmessmer

 -- Felix Messmer <felixmessmer@gmail.com>  Fri, 20 Jul 2018 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.1-2xenial) xenial; urgency=high

  * Merge remote-tracking branch 'origin/kinetic_release_candidate' into kinetic_dev
  * Merge pull request #169 <https://github.com/ipa320/cob_control/issues/169> from ipa-fxm/kinetic_updates_indigo
    Kinetic updates indigo
  * Merge branch 'indigo_dev' of github.com:ipa320/cob_control into kinetic_dev
    Conflicts:
    .travis.yml
  * Merge pull request #159 <https://github.com/ipa320/cob_control/issues/159> from ipa-fxm/APACHE_license
    use license apache 2.0
  * use license apache 2.0
  * Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

 -- Felix Messmer <fxm@ipa.fhg.de>  Sat, 06 Jan 2018 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.7.0-2xenial) xenial; urgency=high

  * Merge branch 'indigo_dev' of https://github.com/ipa320/cob_control into kinetic_dev
  * [kinetic] migration (#115 <https://github.com/ipa320/cob_control/issues/115>)
    * [kinetic] find package Eigen3 instead of Eigen
    * [kinetic] switched from fcl to libfcl-dev dependency
    * ignore cob_obstacle_distance for now
    * [kinetic] use industrial_ci for travis
    * [kinetic] use industrial_cis ipa320 fork & notify on_success only on change
    * fixed fcl dependency
    * new fcl version switched from boost::shared to std::shared
    * whitelist package
    * use ros-industrials fork
    * cleaned up travis.yml
  * Contributors: Benjamin Maidel, ipa-fxm

 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 17 Jul 2017 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.15-2xenial) xenial; urgency=high

  * handle continuous joints in ControllerInterfaceJointStates
  * handle continuous joints in position_limiter
  * harmonize createTask
  * remove unused TaskDamping
  * remove ConstraintParamFactory
  * harmonize ConstraintParams
  * set default values for damping methods
  * own param struct for unified solver
  * New singularity and joint limit avoidance method (#149 <https://github.com/ipa320/cob_control/issues/149>)
    * first implementation of new jla solver using sigmoid functions
    * first version of new JLA method working
    * last fix to new JLA solver
    * correction in parameter used in sigmoid damping method
    * new solver added and new jla method added to be tested and selected according to performance comparison
    * fix to rqt_reconfigure parameters
    * final correction to new solver and new weighting method
    * prints removed
    * square trajectory added
    * wln with sigmoid solver corrected
    * final corrections
    * final corrections to the solver formula
    * created unified singularity and joint limit avoidance class... other classes moved
    * restoring wln previous version of the solver
    * saturation block added in unified solver just for testing
    * saturation block corrected
    * checking new solver and constraints
    * corrected new test script for the new method
    * removed test files and corrected identation
    * defining GPM solver as default
    * fix identation
    * comment corrected
    * identation fix in contraint solver factory
    * finalize PR
  * cleanup leftovers
  * pluginlib approach for controller interfaces
  * add toggle for enforce_input_limits, implement both All and Individual Cartesian limiting
  * combine LimiterXContainer
  * limiter fixed
  * Limiter Base class removed
  * pull request changes
  * final implementation of cartesian limiter
  * bug fixed in class limiter container
  * bug fixed in class limiter container
  * cartesian limits introduced
  * remove sympy implementation and dependency
  * use xacro --inorder
  * final roslint
  * applied changes request in the pull request review
  * damping factor for old method replaced by a diagonal matrix
  * last corretions to pull request
  * corrections added according to last Felix comments
  * fixed changes done by rebase
  * prints removed for new damping function calculations
  * new method based of sigmoid function to singularity avoidance implemented
  * bug fix in least square calculation when changing to return matrix
  * starting to roslint some packages
  * manually fix changelog
  * Contributors: Bruno Brito, ipa-fxm

 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 17 Jul 2017 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.14-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 09 Oct 2016 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.13-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 09 Oct 2016 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.12-2xenial) xenial; urgency=high

  * cob_twist_controller: fix add_dependencies calls
  * Contributors: ipa-mig

 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 09 Oct 2016 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.11-2xenial) xenial; urgency=high

  * reduce output
  * outsource obstacle_distance messages
  * remove support for interpol_position controller
  * debug output
  * use joint_group_velocity_controller for torso extension
  * verify position limit scaling factor
  * fix typo
  * fix lookat: do not look backwards
  * missing sympy dependency
  * add test publisher twist sine
  * avoid unecessary service calls to obstacle_distance
  * fix collision avoidance dimension segfault
  * infinitesiamal threshold for BaseActive
  * wider limits
  * enforce position limit
  * add test_forward_command_sine_node
  * cleanup period
  * Update test_trajectory_command_sine_node.cpp
  * adjust lookat extension limits
  * more compact parameter structure
  * make lookat linear axis configurable - axis and offset
  * cleanup roslint
  * add trajectory_command test node
  * introduce cfg-parameter integrator_smoothing
  * add debug publisher to simpson_integration
  * rename member variables
  * add q_dot_ik smoothing, adjust parameters
  * add timing members for period
  * Merge pull request #79 <https://github.com/ipa320/cob_control/issues/79> from ipa-fxm/fix_visualize_twist_marker
    visualize twist marker
  * proper reset for ControllerInterfaceJointStates
  * visualize angular twist
  * fix visualize twist marker
  * Fixed the TwistDirection Marker
  * use undamped jacobian in nullspace projection
  * minor renaming
  * roslint cob_twist_controller
  * final roslint
  * add TimeStamp to trajectory_interface
  * also print limiting joint
  * prepare remapping for twist_mux in cartesian controller
  * add test nodes for SimpsonIntegrator
  * reset moving average
  * simplify API
  * use new API in SimpsonIntegrator
  * test new MovingAverage API
  * all new MovingAverage API
  * saver initialization of weighting
  * test scripts for moving_average
  * use interpolated position controller
  * add more debug scripts
  * consider various roslint/styleguide hints
  * apply change in parameter name
  * fix frame_id in visualizeTwist
  * lookat extension fully implemented
  * more experiments with reset condition in simpson_integrator
  * minor improvement of comment
  * fix order of doxygen comment
  * fix whitespaces
  * move simpson integration to new util class
  * prepare structure for lookat
  * temporarily disable CA when being used together with KinematicExtensions
  * less output
  * more consistent code structure for constraints
  * remove obsolete return values
  * use extension_ratio for all extensions
  * wip: consider kinematic_extensions within limiters and constraints - still unstable
  * chain not needed in limiters
  * resolve hardcoded cycle time in prediction
  * proper generation of Jacobian for kinematic extension from urdf
  * more generic naming in extension_dof, transform extension_jacobian in extension_urdf
  * merge with demo updates
  * fix BASE_COMPENSATION
  * Fixed order of transform and service registration. Additionally added more time to wait for service availability.
  * fix dimension of jac_extension
  * merge and roslint
  * roslint cob_twist_controller
  * draft towards kinematic_extension for COB_TORSO based on URDF
  * prepare structure for additional kinematic_extensions
  * revert acceleration_limiters impl, class structure only, further consistency changes and cleanup
  * progress with acceleration limiters, still wip
  * implement acceleration limiter
  * pass down whole JointStates structure
  * better reset condition
  * fix limiter reset, fix service existence, consistency
  * prepare structure for acceleration limiters
  * temporary cleanup
  * do FK_Vel in GPM for debugging
  * further debug gpm and self-motion
  * add solveTwist duration output
  * visualization marker for desired twist direction
  * renaming: hardware_interface to controller_interface
  * fixes for positional interfaces
  * waitForExistence of registerLink service
  * wip: use undamped inverse in gpm
  * allow to calculate un-damped, un-truncated inverse jacobian
  * update octave scripts for testing variants
  * working on marker publisher
  * working on log output
  * update trajectory_hardware_interface
  * introduce HardwareInterfacePositionBase, reset Integration on out-dated data
  * handle base_compensation in kinematic_extension enum
  * renaming frame - link
  * Merge branch 'indigo_dev' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface
  * 
    
      * Commented output lines. - Renamed frame_of_interest to link_of_interest.
    
  * Merge branch 'indigo_dev' of github.com:ipa-fxm/cob_control into trajectory_hardware_interface
  * implement JointTrajectory hardware_interface for twist_controller
  * Contributors: Felix Messmer, Marco Bezzon, ipa-fxm, ipa-fxm-cm, ipa-fxm-mb

 -- Felix Messmer <fxm@ipa.fhg.de>  Thu, 31 Mar 2016 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.10-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 30 Aug 2015 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.9-2xenial) xenial; urgency=high

  * authors in package xml
  * Corrections integrated from PR: [WIP] Finalizing/Testing of TwistController features (#51 <https://github.com/ipa-fxm/cob_control/issues/51>). Renaming from frame_to_collision to link_to_collision.
  * 
    
      * Fixed bug in constraint implementation: sign was "-" but must be "+".
      * Moved scripts.
    
  * 
    
      * Added more text to package.xml
      * Moved scripts to subfolder test.
    
  * Added new script for raw3-1.
  * In config file avoided setting of 0 tolerance (DIV/0!). Removed additional output.
  * 
    
      * Made some changes for test. - Decreased Duration time for markers. - Corrected pose update for self collision check frames. - Added new scripts.
    
  * Added comment to activation buffer.
  * boost revision
  * Merge branch 'test_of_feature' into test_of_feature_with_adapt_frame_tracker
  * Overwritten numerical_filtering with false.
  * Some preparations for test: IMarker smaller, Alpha settings, More scripts. Default value for Frame Tracker params.
  * 
    
      * Added parameters for activation buffer and critical threshold of CA and JLA constraints.
      * Removed method getActivationThreshold because parameter can be used directly.
      * Packed thresholds into struct.
      * Commented some outputs.
    
  * 
    
      * CA: Increased exp. decay from 0.1 to 0.2 - Added comments. - Moved constraints set and management to base class. - Added time delta to test script.
    
  * 
    
      * Removed parameter mu. - Added obstacle id for identification of collision pair in ObstacleDistance.msg. - Added Frametracking to DataCollector. - Restructured obstacle distance data collecting. - In debug trajectory marker added explicit usage of frame_tracker/tracking_frame.
    
  * merge
  * explicit dependency to boost
  * Fixed bug when obstacles move away from robot. Clear distances list when new distances arrive (also in case nothing is available for current link) to avoid no movement.
  * 
    
      * Renaming obstacle_marker_server for interactive obstacle
      * Now publishing all obstacle distances instead of the minimal distance only. Defined a MIN_DISTANCE for selection of data to publish (e.g. > than 0.5 m doesn't make sense for CA).
      * Selection of the minimal distance in debug node.
      * Callback data mediator processes all obstacles for a frame of interest id now.
      * Restructured methods in constraint classes.
      * In CA constraint now processing all collision pairs for one link in a CollisionAvoidance instance.
      * Removed unnecessary output.
    
  * Resolved merge conflicts.
  * more fixes for migration afer merge
  * merge with package_xml_2
  * remove trailing whitespaces
  * migrate to package format 2
  * 
    
      * Removed unnecessary commented code.
    
  * 
    
      * Added handling of no exception: Save files.
    
  * 
    
      * Avoided drawing of self-collision frames -> can be done via rviz.
      * Increased CA activation threshold to 0.25 m
    
  * Deleted unnecessary files.
  * 
    
      * Renamed dynamics_tasks_readjust_solver -> stack_of_tasks_solver. Therefore adapted corresponding cfg and data_types.
      * Created Python package for data collection.
    
  * fix HardwareInterfacePosition
  * consider PR review comments
  * 
    
      * Removed experiment solvers for task stacks. Now the dynamic_tasks_readjust_solver works better than them.
      * adapted MakeLists and config and data_types.
    
  * 
    
      * For BVH introduced a shared_ptr member -> so a collision object can be created without copying the whole BVH. This saves computation time (5% for 3 SCA and 1 torus)
      * Decreased rate for cob_obstacle_distance because the movement does not change that often.
      * According to the rate adapted the moving average for distance in constraint_ca_impl
    
  * updates from ipa-fxm-mb
  * Implemented Python package to set dyn_reconfigure params. Made test_move_around_torus use of this class.
  * cleanup
  * sort dependencies
  * Created test, Removed commends, Removed output.
  * Fixed bugs in cartesian_controller: waitFor last available transform else extrapolation error; send always a new constructed StampedTransform instead of using an already existent one, else end-effector is decoupled from manipulator and other confusing things happen...; Added responsible node to tf error msg.
  * Merged with ipa-fxm/test_of_feature branch.
  * Separated JLA and CA constraints from constraint_impl.h
  * 
    
      * Corrected JLA constraint. - Added weighting of GPM prio dependent. - Added buffer region for CA constraint to become active.
    
  * Made movinge average generic for other data types. Using moving average for CA constraint.
  * simplify simpson
  * 
    
      * Removed PredictDistance Service (not necessary anymore; found a lightweight computational algorithm).
      * Made KDL::ChainFkSolverVel_recursive in CA constraint available for prediction.
      * Replace constraints update method prediction variable with JntArrayVel.
      * Refactored ObstacleDistance.msg: Reduced number of members, renamings, added frame_of_interest for registration and made use of header->frame_id for arm_base_link.
      * Renamed service for registration.
      * Improved input twist damping in case of a constraint is in CRITICAL state.
    
  * check for frame existence
  * allow target_frame to be configured via private param, beautifying
  * Further tests and adaptations for test.
  * Added generated const from .cfg; Styling
  * re-implementation of trajectory_publisher in c++
  * Added Python package to collect data and write collected data into a file.
  * Fixed parameter initialization.
  * fix parameter initialization + add max_vel_base to cfg
  * add topic name to ROS_WARN output
  * add doxygen documentation
  * add example launch file
  * publish joint_states in separate thread
  * adding JointStateInterface
  * add base_marker to publisher
  * generalize scripts, minor changes
  * Corrected default values in cfg.
  * Corrected CMakeLists.txt. Replaced ASSIMP_LIBRARIES with assimp.
  * Added consideration of origin from URDF tags. Removed shape_type and so Registration.srv and replaced by SetString service. Removed comments.
  * Considering visual tag as fallback now. Removed duplicate map and struct.
  * Considered further proposals from https://github.com/ipa-fxm/cob_control/pull/7.
  * Considered proposals from https://github.com/ipa-fxm/cob_control/pull/7
  * Integrated comments of https://github.com/ipa-fxm/cob_control/pull/7. Replaced static link2collision map with URDF parser. Added class for URDF parser and create marker shapes.
  * Added functions to represent a registered robot link as a mesh instead of simple shapes. Added a mapping between robot link name and mesh resource name.
  * Integration. To avoid controller jump into critical region again introduced in cart vel damping.
  * Fixed DIV/0 error in distance cost function calculation.
  * Reassignment of corrected values to twist_controller_params_ instance.
  * Added JLA inequality constraint to be used within the dynamic task strategy. Added checking and resetting of dynamic_reconfigure params. Corrected formatting of LSV damping.
  * Moved TaskStackController to parameters list. Added new damping factor for constraints (to avoid algo. singularities). Added new inverse for testing.
  * Separated constraints from solvers and vice versa. Added new parameters. Prettified GUI.
  * Added a Simple Python node to publish a line strip to see the real trajectory and the desired one.
  * Made CA possible with active base. Bug fixing of solvers in case of base active. Corrected JLA constraints.
  * more style unification
  * parameter initialization
  * enforceLimits now in inv_diff_kin_solver
  * enum for KinematicExtension and styling for constants
  * consider remarks from CodeReview: mainly styling and beautify
  * hardware_interface_type renaming
  * re-arrange Parameter structs
  * Merge branch 'task_stack_prio_feature' of github.com:ipa-fxm-mb/cob_control into multi_feature_merge
  * Added new method for dynamic tasks readjustment. Implemented prediction of distance now for vectors.
  * resolve conflicts after merging ipa-fxm-mb/task_stack_prio_feature
  * KinematicExtensionBaseActive works
  * WIP: further cleanup and introduction of abstract helper class
  * WIP: kinematic_extension replaces base_active
  * Refactored task stack solvers. Fixed creation of solver instances. Removed unnecessary test code.
  * beautify and code-review
  * remove auto generatable doc
  * merge with ipa320
  * generic interface types
  * Added chain recursive fk vel calculator. Corrected calculation of translational Jacobian for CA. Introduced further msg types to achieve that. Extended solvers: CA as first prio task, CA as GPM, CA as GPM with disappearing main tasks.
  * Added task stack controller.
  * Corrected dist calclation for GPM CA
  * Added stack of tasks and Macijewski task prio CA.
  * Added stack of tasks and further developments on GPM CA.
  * Further developments.
  * Implemented proposals from discussion https://github.com/ipa320/cob_control/pull/38. Removed tabs. Corrected node handles.
  * Merge with IPA320 Indigo Dev.
  * removed bug
  * merged
  * Added moving average filter and simpson integration formula
  * New octave script to check whether split of vector v into separate tasks works.
  * Removed rad variable.
  * Fixed issue in WLN_JLA: Removed conversion to radian.
  * Made code more CppStyleGuide ROS compliant.
  * Made corrections proposed in https://github.com/ipa320/cob_control/pull/38#
  * 
    
      * Renaming: AugmentedSolver -> InverseDifferentialKinematicsSolver
      * Merged cob_twist_controller_data_types and augmented_solver_data_types -> cob_twist_controller_data_types
      * Renamings: According to ROS C++ Style Guide.
    
  * 
    
      * Added doxygen comments
      * Corrected the messages produced by catkin_lint
      * Created a static method to return SolverFactory
    
  * 
    
      * Made obstacle tracking independent from arm_right.
      * Refactored signatures of solve methods: Instead of using dynamic vector now a 6d vector is used because twists are of dim 6d.
      * Removed unnecessary comments.
      * Introduced eigen_conversions to have simple converters instead of filling matrices and vectors manually -> Reduces typing and copying errors!
    
  * 
    
      * Renamed some variables according to ROS C++ style guide
      * Moved advanced chain fk solver from cob_twist_controller to cob_obstacle_distance.
      * Replaced complicated transformation of base_link to arm_base_link with simpler and direct one.
      * Removed unnecessary services and replaced with message publisher and subscriber (for distance calculation).
      * Added example launch file for cob_obstacle_distance.
      * Corrected handling of objects of interest. Now in both packages frames are used (instead of joint names) -> made it similar to KDL and tf handlings.
      * Removed commented code.
      * Removed pointer where objects could be used directly (constraint params generation)
      * callback data mediator keeps old distance values until new ones were received. An iterator is used to go through the container.
    
  * Added missing modules
  * 
    
      * Created a obstacle distance publisher in cob_obstacle_distance package and a subscriber in cob_twist_controller package.
      * Created registration service in cob_obstacle_distance
      * Creation of multiple CA constraints dependent on formerly registered joint regions.
    
  * test
  * Renaming
  * Added collision avoidance feature. Solve with GPM. Made usage of cob_collision_object_publisher via ROS service.
  * Added possibility to calculate self motion magnitude dependent from joint velocity limits.
  * Removed tracking error publisher / subscriber and removed additional p gain for PD-Control (already done in FrameTracker with PID controller)
  * Solved merge conflicts
  * WIP:
    - Added new solver feature: GradientProjectionMethod.
    - Added cost function for: JLA, JLA_MID, CA
    - Added kappa parameter to set GPM scaling.
    - Added builder to support build of multiple constraints.
  * Added new implementation for KDL::ChainFkSolverPos_recursive. Provides storage of joint positions.
  * Beautify.
    Corresponding to PR https://github.com/ipa-fxm-mb/cob_control/pull/1.
  * renamed parameters and functions
  * Generischer Ansatz
  * Low Isotropic Damping
  * 
    
      * Added constraints for JLA and JLA mid.
      * Added calculation for step size.
    
  * 
    
      * Prepared the implementation of a builder to create a set of constraints.
      * Decoupled constraints generation from solver class GPM (now they could be used for other methods as well).
      * Removed asParams from constraints. Only necessary for constraintParams.
    
  * 
    
      * Added a possibility to implement constraint functions.
      * Added a registration mechanism to the solver (registration in a priorized set).
      * Added a parameter to select it
    
  * 
    
      * Renamed pseudoinverse_calculation -> inverse_jacobian_calculation
    
  * 
    
      * Decoupled pseudoinverse calculation from constraint_solvers. That allows new implementations for pseudoinverse calculations. Additionally it allows to calculate pseudoinverses of further Jacobians (e.g. for constraints)
      * Removed unnecessary _base.cpp files and removed them from CMakeLists.txt.
    
  * 
    
      * Refactored parametrization of damping -> damping method is now given to solver for extensions (like numerical filtering)
      * Considered damping method NONE in case of no damping for solving IK.
    
  * 
    
      * Added a publisher for the tracking errors to send them to cob_twist_controller
      * Added a subscriber to collect the errors and put them to the solver.
      * Added a parameter to set the p gain. If 0.0 old behavior is active (default value).
    
  * Contributors: ipa-fxm, ipa-fxm-cm, ipa-fxm-mb
  * add missing include
  * Contributors: ipa-fxm
  * missing dependency
  * Contributors: ipa-fxm

 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 24 Aug 2015 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.8-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Tue, 16 Jun 2015 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.7-2xenial) xenial; urgency=high

  * reduce output in limiters
  * restructure namespaces for parameters of cartesian controllers
  * 
    
      * Instead of creating png create eps.
    
  * 
    
      * Added new damping method None
      * Added enum value to select damping None
      * Removed pure pointer usage and added boost::shared_ptr usage (which provides pointer management / ensure deletion of objects)
      * Removed unused includes
      * Renamings
    
  * 
    
      * Removed unnecessary ROS_INFO_STREAMs
      * Removed temporary variables for test code
    
  * 
    
      * Added debug code
      * Removed truncation
      * Removed unused members
    
  * 
    
      * Grouped limiters in one .h and one .cpp
      * Grouped damping_methods in one .h and one .cpp
      * Removed separate factories. Made SolverFactory generic by introducing template parameters.
      * Made usage of boost::shared_ptr instead of own pointer handling.
      * Adapted CMakeLists.txt according to changes.
      * Split parameter enforce_limits into enforce_pos_limits and enforce_vel_limits
    
  * 
    
      * To enforce limits for joint positions and velocities created new classes.
      * Additionally added parameter for keeping direction or not when enforcing limits.
      * Therefore removed normalize_velocities and enforce_limits from cob_twist_controller. Instead the new limiter_container is used.
      * Added new struct to provide cob_twist_controller params.
      * Removed debug code.
    
  * 
    
      * Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
      * Added script to check pseudo-inverse calculation.
    
  * 
    
      * Take care: W^(1/2) * q_dot = weighted_pinv_J * x_dot -> One must consider the weighting!!!
      * Added an octave script to verify the statement above.
    
  * 
    
      * Removed unnecessary file
    
  * 
    
      * Added doxygen comments
      * Activated graphviz for doc generation
      * Added const to method signatures to avoid undesired JntArray-Data change.
    
  * 
    
      * moved enfore_limits from augmented_solver to cob_twist_controller
      * Added a base case WeightedLeastNorm to constraint solvers
    Instantiated it acts like an unconstraint solver.
    - Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver
    - WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting
  * 
    
      * moved enfore_limits from augmented_solver to cob_twist_controller
      * Added a base case WeightedLeastNorm to constraint solvers
    Instantiated it acts like an unconstraint solver.
    - Renamed JointLimitAvoidanceSolver to WLN_JointLimitAvoidanceSolver
    - WLN_JointLimitAvoidanceSolver inherits from WeightedLeastNormSolver and implements calculate_weighting only. -> Solving is done by the WLN Solver.
  * Added validation outputs.
    Added comments for doxygen generation.
    Did some renaming.
  * Made restructured changes active.
    Corrected some implementation.
    Activated both old and new implementation for comparison and testing purposes.
  * Made usages of ConstraintSolverFactoryBuilder:
    - Creates DampingMethod
    - Creates ConstraintSolver
    - Executes calculation of joint velocities.
  * Split up augmented_solver.cpp into different constraint solvers: JLA constraints and unconstraint.
  * 
    
      * Restructured augmented_solver.
      * Renamed class augmented_solver to AugmentedSolver.
      * Created damping_methods as classes to ease creation of dampings (and new ones).
    
  * add comments
  * cleanup
  * beautify CMakeLists
  * using correct base topic names
  * fix debug node
  * remove obsolete code for parameter initialization, enforce_limits behaviour
  * revision, simplification and cleanup
  * remove obsolete files
  * twist controller analyser
  * last update
  * update working frame_tracker
  * base compensation test
  * temporary adjust base topics
  * reduce output
  * twist series test script
  * use component specific joint_states topic
  * no output
  * merge
  * cleaning up
  * new publisher and transformation names
  * merge with cm
  * added commentary, tolerance as dynamic reconfigure, modified enforce_limits
  * Debug functions
  * merge with cm
  * Merge branch 'indigo_dev' of https://github.com/ipa320/cob_control into fm_cm_merged_new
  * last commit before merging
  * new rqt_features
  * delete all test packages
  * delete all test packages
  * fixed errors from merging
  * merged from ipa-fxm-cm
  * beautify, added commentary, limit enforcing and dynamic reconfigure for JLA
  * new debug twist
  * add tracking_action
  * test
  * new features
  * test
  * Merge branch 'merge_fm_cm' of github.com:ipa-fxm-fm/cob_control into cm_dev
  * changes
  * Corrected errors from merging
  * First merge attempt
  * Joint Limit Avoidance added and cleaned up
  * Added publisher for the pose
  * Modified for the new structure
  * cleaned up again
  * Cleaned up
  * New features
  * a commit a day keeps the doctor away
  * Contributors: Christian Ehrmann, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm, ipa-fxm-mb

 -- Felix Messmer <fxm@ipa.fhg.de>  Tue, 16 Jun 2015 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.6-2xenial) xenial; urgency=high

  * remove dep to cob_srvs and std_srvs
  * Contributors: Florian Weisshardt

 -- Felix Messmer <fxm@ipa.fhg.de>  Wed, 17 Dec 2014 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.5-2xenial) xenial; urgency=high

  * Merge branch 'indigo_dev' into indigo_release_candidate
  * add dep
  * Contributors: Florian Weisshardt

 -- Felix Messmer <fxm@ipa.fhg.de>  Wed, 17 Dec 2014 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.4-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 15 Dec 2014 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.3-2xenial) xenial; urgency=high

  * add dependency to nav_msgs
  * Contributors: Florian Weisshardt

 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 15 Dec 2014 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.2-2xenial) xenial; urgency=high

  * Merge branch 'indigo_dev' into indigo_release_candidate
  * fix twist_control dimensions for any-DoF
  * merge with fxm-cm
  * merge with fxm-fm
  * cleaning up
  * branch with features for merging
  * topics according to new structure
  * remove brics_actuator
  * more topic renaming according to new structure
  * renaming debug topic
  * adapt namespaces for cartesian_controller to new structure
  * dynamic reconfigure
  * revision of cob_twist_controller
  * merge_cm
  * merge_fm
  * temporary commit
  * temporary commit
  * changes in initialization
  * restructure test_twist publisher scripts
  * fix twist_controller to be usable without base again
  * able to add base DoFs to Jacobian solver - first tests - needs more debugging
  * null-space syncMM
  * add test script for twist_stamped
  * able to apply twists wrt to various coordinate system orientations
  * cleanup, restructure and fix
  * missing include
  * merge with fxm-fm + clean up
  * add twist publisher script
  * add output publisher
  * cleaning up
  * beautify
  * Add fixes provided by @ipa-fxm-fm
  * fix controller and add damping
  * add twist publisher script
  * add output publisher
  * Add fixes provided by @ipa-fxm-fm
  * Contributors: Florian Weisshardt, ipa-fxm, ipa-fxm-cm, ipa-fxm-fm

 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 14 Dec 2014 23:00:00 -0000

ros-kinetic-cob-twist-controller (0.6.1-2xenial) xenial; urgency=high



 -- Felix Messmer <fxm@ipa.fhg.de>  Sun, 21 Sep 2014 22:00:00 -0000

ros-kinetic-cob-twist-controller (0.5.4-2xenial) xenial; urgency=high

  * fix dependency-hell on multiple cores
  * moved cob_twist_controller
  * Contributors: Alexander Bubeck, ipa-fxm

 -- Felix Messmer <fxm@ipa.fhg.de>  Mon, 25 Aug 2014 22:00:00 -0000


