diff --git a/Changelog.md b/Changelog.md index 83422296..2757ccd9 100644 --- a/Changelog.md +++ b/Changelog.md @@ -106,12 +106,73 @@ This changelog covers the entire dave project which includes a few repositories, ### Added -- Object model degradation tool. - - 3D mesh modification via Blender script [PR#160](https://github.com/Field-Robotics-Lab/dave/pull/160) - - Parameterization proof of concept for SDF friction values via embedded Ruby script [PR#163](https://github.com/Field-Robotics-Lab/dave/pull/163) - - Demonstration of addition of custom SDF tags for extending model properties and corresponding influence on sensing [PR#164](https://github.com/Field-Robotics-Lab/dave/pull/164) +- Object model degradation tool + - 3D mesh modification via Blender script [PR#160](https://github.com/Field-Robotics-Lab/dave/pull/160) + - Parameterization proof of concept for SDF friction values via embedded Ruby script [PR#163](https://github.com/Field-Robotics-Lab/dave/pull/163) + - Demonstration of addition of custom SDF tags for extending model properties and corresponding influence on sensing [PR#164](https://github.com/Field-Robotics-Lab/dave/pull/164) + +## [4.3.0] - 2022-02-25 + +### Updated + +- Ocean current plugin + - Search for database file in all Gazebo paths (`GAZEBO_MODEL_PATH`, `GAZEBO_RESOURCE_PATH`, etc) [dave PR #190](https://github.com/Field-Robotics-Lab/dave/pull/190) + +- Multibeam Sonar plugin + - Docker environment using OSRF Rocker and dockwater [Installation using docker](https://github.com/Field-Robotics-Lab/dave/wiki/Multibeam-Forward-Looking-Sonar#option-a-use-docker) + - New colorized live sonar image viewer [Multibeam Sonar PR #38](https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/pull/38) + +- Object model degradation tool + - Bug fixes; tutorial updates documenting how to add new distortion methods [dave PR #185](https://github.com/Field-Robotics-Lab/dave/pull/185) + - Set the amount of vertex randomization offset `VERT_RAND_MAX` based on object size; degraded model examples [dave PR #212](https://github.com/Field-Robotics-Lab/dave/pull/212) + +### Added + +- Multibeam Sonar Plugin + - GPURay-based multibeam sonar with fidelity flag for number of elevation rays [Multibeam Sonar PR #37](https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/pull/37) + - Custom SDF tags of model description for multibeam sonar reflecitivty [Reflectivity by custom sdf tags](https://github.com/Field-Robotics-Lab/dave/wiki/Multibeam-Forward-Looking-Sonar#reflectivity-by-custom-sdf-tags) + - Multibeam Sonar URDF for standalone and robot description [Multibeam Sonar PR #38](https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/pull/38) + - Documentation and tutorial for the local search scenario demonstration with GPURay-based multibeam sonar [wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Multibeam-Forward-Looking-Sonar#degradaded-object-detection-scenarios) + - Documentation and tutorial for the degraded object detection scenarios with distorted mesh models [wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Multibeam-Forward-Looking-Sonar#degradaded-object-detection-scenarios) and [Multibeam Sonar PR #33](https://github.com/Field-Robotics-Lab/nps_uw_multibeam_sonar/pull/33) + +- Bathymetry Converter + - Docker image distribution including neccesary libraries and excutables [Docker Hub image](https://hub.docker.com/r/woensugchoi/bathymetry_converter) + - Redesign of the automatic tile generator with python language [mkbathy.py](https://github.com/Field-Robotics-Lab/Bathymetry_Converter/blob/a6fa5ba1549e15a17eb7869f6103e907b9f4394a/mkbathy.py) + - Automatic color texture generation with bathymetry depth + +- Demonstration of Importing Bathymetric Maps + - [Bathymetry Models Wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Bathymetry-Models) + +- Mud Plugin + - Demonstration and associated models for incorporation of the Gazebo mud plugin into the dave environment [dave PR #184](https://github.com/Field-Robotics-Lab/dave/pull/184) + - Documentation and tutorial - updates Occlusion documentation to include the mud demo [wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Occlusion) + +- Bimanual Manipulation + - Creation of MoveIt-based infrastructure for motion planning with single and multi-arm systems. [uuv_manipulators PR #8](https://github.com/Field-Robotics-Lab/uuv_manipulators/pull/8) + - Addition and configuration of multiple arms onboard arbitrary robot. [dave PR #206](https://github.com/Field-Robotics-Lab/dave/pull/206) + - Demonstration of bimanual manipulation scenarios using joy teleop, RViz interaction, and MoveIt ROS nodes. [dave PR #228](https://github.com/Field-Robotics-Lab/dave/pull/228) + - Documentation and tutorial [wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Bimanual-Manipulation-Setup-and-Examples) + +- Mating Plugin + - Expose mating forces for mating plugin as ROS publication [dave PR #189](https://github.com/Field-Robotics-Lab/dave/pull/189) + - Electrical flying lead demonstration scenario - incremental improvement [dave PR #161](https://github.com/Field-Robotics-Lab/dave/pull/161) + - Updated [Electrical Plug Mating Plugin Wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Electrical-Plug-Mating-Plugin) + +- Simple Bathymetry with Heightmaps + - Example and tutorial for creating new seafloor heightmaps from arbitrary-format bathymetry sources [dave PR #207](https://github.com/Field-Robotics-Lab/dave/pull/207) + - [Building Bathymetry Heightmaps Wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Building-a-simple-underwater-environment-via-heightmaps) + +- Object model degradation tool [wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Object-Degradation-Tools) documentation + +- Object Models + - New 3D object models. dave PRs [#194](https://github.com/Field-Robotics-Lab/dave/pull/194), [#205](https://github.com/Field-Robotics-Lab/dave/pull/205), [#209](https://github.com/Field-Robotics-Lab/dave/pull/209), and [#225](https://github.com/Field-Robotics-Lab/dave/pull/225) ### Coming Soon - Manipulator reaction force interface -- Electrical flying lead demonstration scenario - incremental improvement [PR#161](https://github.com/Field-Robotics-Lab/dave/pull/161) + +- Bathymetry integration plugin usability upgrades [dave PR #180](https://github.com/Field-Robotics-Lab/dave/pull/180) + - Simpler latitude/longitude coordinate system + - A new script to set the initial position with geodetic coordinates + - GPS Viewer/Logger and a new flag to set how many tiles to keep in the scene + - New tutorial document and demo files [Bathymetry integration wiki](https://github.com/Field-Robotics-Lab/dave/wiki/Bathymetry-Integration)