Version 9.0.1

Version 9.0.1 is a minor version update that exposes Cartesian and Joint state utility functions from the corresponding state_representation classes.

Features

It is now possible to convert CartesianStateVariable and JointStateVariables from and to std::string.

Full changelog

• feat(state-representation): add utilities for CartesianStateVariable (#195, #201)
• feat(state-representation): add utilities for JointStateVariable (#197, #201)
• feat(robot-model): add clamp_in_range function for individual JointStateVariable (#194)

Version 9.0.0

Version 9.0.0 is a new major version of control libraries that is built on Ubuntu 24.04 with Python 3.12. It does not
contain any new features or fixes compared to version 8.1.0.

Version 7.4.1

Version 7.4.1 is a retro-active patch that adds metadata to the final control-libraries Docker image required for aica-technology/package-builder:v1.

Version 8.1.0

Version 8.1.0 adds a new module called communication_interfaces to the control libraries. This is a library for
simple socket communication and was previously developed in a different place. It currently implements sockets for UPD,
TCP, and ZMQ communication.

Full changelog

• feat: migrate communication interfaces (#190)

Version 8.0.0

Version 8.0.0 is a major update that adds new state types and collision detection features to control-libraries.

Breaking changes

robot_model

As part of the collision detection features in robot_model::Model, the dependencies of the robot_model module have
changed which constitutes a breaking change that requires users of the module to rebuild their code.

General

As of version 8.0.0, the develop branch will be deleted and the Linear Git-Flow workflow will be abandoned in favor of
easier release cycles (see CONTRIBUTING). Additionally, the development-dependencies and
proto-dependencies images will no longer be supported or maintained.

Features

The robot_model module now supports collision detection features from pinocchio, allowing to retrieve minimum
distances between links.

General

The behind-the-scenes structural improvements to the build system and the CI that have existed in parallel since version
7.1.0 have now replaced the legacy build system with multiple shell scripts and Dockerfiles. All information regarding
building and using control-libraries should still be available in the READMEs.

Full changelog

• feat: add metadata to docker image (#188)
• chore: touch up workflows and documentation (#181)
• feat: update demos directory (#179)
• fix: update copy constructor to avoid warnings (#180)
• build: remove deprecated Dockerfiles and scripts and update installation instructions (#176)
• refactor: optimize copy and swap constructor for robot model (#174)
• fix: refactor cmake project to deal with robot model dependencies (#178)
• feat: integrate minimum distance calculation feature into robot model(#167)
• ci: update workflows (#175)
• feat: integrate collision detection feature into robot model (#163)
• ci: use caching from docker to run tests in CI (#169)
• build: add missing licenses (#170)
• feat(build): handle installation and linking of dependencies for pinocchio collision support (#161)

Version 7.4.0

Version 7.4.0 brings Analog and Digital IO State types as a new feature to the state_representation module.

Features

AnalogIOState and DigitalIOState classes have been added as new state types in state_representation.

Full changelog

• feat: add IO states to state representation (py) (#173)
• feat: add IO states to state representation (proto) (#172)
• feat: add IO states to state representation (cpp) (#158)
• build: update dockerfiles (#153)
• build: copy python packages into /usr instead of ~ros2 to avoid permission issues (#155)
• feat: Add ParameterType conversion functions to go from enum to type label and the inverse (#154)

Version 7.3.0

Version 7.3.0 contains new improvements and a fix to the control libraries.

Features

Setting controller gain parameters is now even easier than before as vectors and arrays of size 1 are also allowed and interpreted the same way as a double. Additionally, the robot model now has an improved inverse velocity calculation that uses a damped least squared pseudoinverse if desired.

Fix

An error in the scalar multiplication operator of a Cartesian state that generated an incorrect orientation has now been fixed.

Full changelog

• feat(robot model): Damped least squared pseudoinverse (#143)
• feat(controllers): improve parameter validation of impedance controller (#148)
• fix(state_representation): remove error in orientation scaling (#147)

Version 7.2.0

Version 7.2.0 contains improvements for the Python bindings of control libraries.

Features

To enable a good development experience with IDEs that cannot introspect pybind modules, so-called stubs are now generated for each Python module and shipped alongside the actual modules.

Fixes

Since version 7.1.0, some of the Python modules have not been built in the Docker image due to missing or wrong dependencies. This has been fixed in #134.

Full changelog

• feat(build): add configuration files for VS Code devcontainer (#137, #138)
• feat(python): auto-generate stubs for python modules in Dockerfile (#135, #139)
• fix: build all python modules (#134)

Version 7.1.1

Version 7.1.1 contains one commit to fix permissions of the home folder in the generated Docker images.

Version 7.1.0

Version 7.1.0 contains behind-the-scenes structural improvements to the build system and the CI as well as a few
minor improvements and fixes to state_representation.