Fawkes 1.3.0

• Switch to the more modern mongocxx-v3 as C++ driver for mongodb with support for MongoDB 4
• Add support for modern Intel RealSense cameras (D400 series and SR300) with librealsense2
• Add the skiller-simulator, a plugin that simulates skill execution for simulation tests without a Gazebo environment
• Fix a number of CLIPS Executive bugs in locking and worldmodel synchronization
• Switch to Fedora 30 for CI builds

Fawkes 1.2.0

This release includes the following noteworthy features:

• CLIPS Executive
  A CLIPS-based principled executive integrating, reasoning,
  planning, and execution into one consistent goal-based framework.
• Sync points run-time
  This provides a graph-based flexible run-time organization
  of modules compared to the main loop used before.
• Webview 2.0 based on Angular
  This is a new and easier to use web frontend for Fawkes based
  on Angular 7. It builds on a strict separation of backend and
  frontend using the new REST API features.
• Github workflow
  Fawkes has migrated to Github for development with great
  improvements to our daily workflows.
• Buildkite configuration (builds, linting)
  Continuous integration builds are now provided through Buildkite.
  This includes several linter operations (commit messages, format,
  documentation, author info etc.) and builds on Fedora, Ubuntu,
  and FreeBSD, as well as builds of the web frontend.
• Fixes due to LGTM and Codacy
  The Github integration has provided a greater flexibility towards
  external tools. We have used LGTM and Codacy to add many
  improvements for issues detected by such tools.
• Robot memory support
  A persistent shared database can be used as a general data store
  or, e.g., to synchronize world models.
• Plexil integration
  We have integrated the Plexil Executive to learn and test.
• CLIPS-based Error Detection, Analysis, and Reporting (CEDAR)
  We have merged earlier work on automatic system monitoring.
• Prometheus metrics support
  Fawkes is now ready to provide metrics to be fed into Prometheus.
• Clingo integration
  The Clingo Answer Set Programming solver can now be used, e.g.,
  in domain-specific reasoning, as we have done for the RCLL.
• Full code base reformatting
  We have specified a unified universal formatting specification
  based on clang-format and enforce it during automated CI checks.

Other features include:

• Realsense camera support
• GCC 7 and later support, C++14 fixes
• Simple Temporal Network (STN) generator
• PDDL planner integration
• Grid-based navgraph generator
• Gazebo 8 and 9 support
• Configuration format improvements
• REST API support and generator
• Laser calibration
• Build coverage stats support
• Automated test integration (based on gtest)
• Many fixes and performance improvements

Fawkes 1.0.1

This version contains minor bugfix and feature improvements.

• Adapt fvfountain to IPv6-related fixes
• Build Gazebo plugins and OpenPRS modules without SOVER
• Add ros-navgraph-breakout plugin
• Add colormap visualization support for fvviewer

Fawkes 1.0.0

• Switched from SQL to YAML-based configuration files
• Support running multiple instances on a single host
• Port ROS Behavior Engine features to Fawkes
• Topological map graph for motion planning and
  location-specific data (navgraph)
• YAML-based navgraph description, interactive modification,
  extensive visualization support through rviz
• Constraint framework for navgraph and CLIPS access
• Automated navgraph generation from map and points of interest
• CLIPS-based agent plugin, navgraph, communication access,
  and web introspection and instruction, many improvements
• Process information logging through RRD
• MongoDB integration and high-throughput logging
• Pointcloud database storage and multi-perspective merging
• Gazebo simulation integration: general access, time source,
  hardware simulation plugins
• Port of "colli" local path planner with collision avoidance
• Port and integration of tf2 coordinate transforms library
• Protobuf-based multi-robot communication infrastructure
• Adaptation to modern compilers (GCC5, GCC6, clang)
• Support for Bumblebee2 stereo camera
• Drop own geometry library in favor of external ones like Eigen3
• Object tracking and cylinder fitting in tabletop perception
• Use libelf for meta data reading instead of plugin pre-loading.
  This vastly improves load times and fixes some issues.
• Improve timestamp handling in laser-filter, add map filtering
• Vision improvements like several new color models
• KDL parser library integration (port from ROS)
• Better debugging through thread names in gdb
• Support for the Sick TiM 55x and 57x laser range finders
• Support for Asus Xtion RGBD sensor
• Support for Cruizcore IMU
• Laser-based cluster detection plugin and automated
  navgraph reservation or cost increasing
• Support for IPv6 networking (fawkes net and webview)
• Laser-based line detection and filtering
• Support for Robotino 3 through direct USB communication with
  the platform's microcontroller for faster data access
• Behavior Engine Lua 5.2 support, internal all-Lua implementation,
  drop one-shot execution, direct ROS integration through roslua,
  blackboard interface declaration in skill only (not config),
  access to the tf sub-system, many improvements also in skill
  syntax and features
• Support for OpenPRS reasoning engine, agent framework
• AMCL improvements, console initialization tool
• CMake modules for using Fawkes in 3rd party apps
• Support for arbitrary Dynamixel servo chains
• Integration with the Eclipse-CLP logic programming environment
• Improved ROS integration: support up to Kinetic, two-way
  navigation integration, clock export, two-way pointcloud access,
  joint and robot state publisher
• Support for Kinova Jaco arm through libkindrv library
• Blackboard interface data structure packing changed
• New joystick-teleop plugin for generic remote control with
  basic collision avoidance and safety lockout
• Plugin generator tool to create new plugins
• Bash completion support
• Various bug fixes and improvements

At 33C3.