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ChangeLog.md

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V1.2.2

2020.08.12

Description

  • Add a new lcm server which combined the lowlevel and highlevel control. It is useful for ROS.

============================================================================================= V1.2.1

2020.03.02

Description

  • Add new UDP constructor function as server.
  • Move GetState() to GetRecv() in udp.hpp.

=============================================================================================

V1.2.0

2019.12.04

Description

  • Remove global variables in examples. All variables are user defined.
  • Callback functions in LOOP need a parameter now.
  • Change "PositionLimit", "PositionProtect" and "PowerProtect" to static functions.

=============================================================================================

V1.1.4

2019.11.20

Description

  • Add "PositionProtect" to prevent programs runaway.
  • Move "JointLimit" to "PositionLimit".
  • Move "PowerLimit" to "PowerProtect".

=============================================================================================

V1.1.3

2019.8.10

Description

  • Decrease interruptions.

Known Issues

  • X86 uses core 2 and 3.
  • ARM(TX2) uses core 2 and 3. The core 1 and 2 of TX2 are more likely have frequency reduction.

=============================================================================================

V1.1.2

2019.7.4

Description

  • Abolish "#define", which causes conflicts between user and library macros. Now use "constexpr" instead. Thanks Stuart Anderson.
  • Add C++11 compile option.

Known Issues

  • Fixed "-fPIC" related problem for shared library "liblaikago_comm.so".

=============================================================================================

V1.1.1

2019.6.25

Description

  • Move "SetLCM" and "SetPrint" from 'class control' to 'class loop'.
  • Abolish publish or subscribe the state or command in ROS now, which causes data lag.
  • Add 'print' thread.

=============================================================================================

V1.1.0

2019.6.1

Description

  • Abolish global variables, like "SendHigh, SendLow, RecvHigh, RecvLow". Now use Class.
  • Replace directory "laikago_ws" with "laokago_sdk".
  • Examples are now under "laokago_sdk/examples".
  • Move 'liblaikago_comm.so' to folder "aliengo_sdk/lib".
  • The name of send and receive variables are user defined and should be passed in.
  • The name of callback functions are user defined and should be passed in.
  • Replace function SetLevel() with Class Control(high or low level).
  • Replace "status" with "state".

Features

  • Using LCM module for cross-process communication.
  • Class UDP can be used to transfer user defined data now.
  • Class loop can help running two or three soft-realtime threads. Each thread corresponds to a callback.
  • Add namespace "laikago".
  • All receive functions will save data in buffer first, that's why recv callback exists.

Known Issues

  • Fixed 500Hz to control real robot with UDP.

=============================================================================================

V1.0.0

2018.12.20

Description

  • Simple SDK for rapid development.
  • Integrate and simplify send and receive function of UDP.
  • Running with multi threads in soft-realtime mode.