Page Comparison

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• can_interface:
  
  • Now released under GPLv3.
• network_interface:
  • Breaking Change: The API for TCPInterface and UDPInterface are now standardized to have nearly identical function signatures and both use similar underlying calls to Boost (rather than Linux-native APIs on UDPInterface). All 1.7.0 AS ROS drivers have been updated to work with these new API function signatures.
    
  • Breaking Change: The return_statuses enum now uses ALL_CAPS values, consistent with industry best-practices.
  • Feature Addition: More error handling is now included in network_interface. It should be considered a stable API which should not throw any errors directly but pass them through a return return_statuses value to the calling code.
  • Bug fix: The read_some function of TCPInterface now returns the number of bytes read.
  • Now released under GPLv3.
• platform_automation_msgs:
  • New message CurvatureFeedback was added to support steering feedback information abstracted into a current curvature from the vehicle's present trajectory.
• pacmod_game_control:
  • Feature Addition: Now supports multiple vehicle types through the vehicle_type parameter in the launch file. See the launch file for details.
  • Feature Addition: Added control for windshield wipers on certain vehicle models.
  • Feature Addition: Optional parameters are now available in the launch file for accelerator and braking scaling to scale the inputs from the joystick.
  • Feature Addition: Optional argument is now available in the launch file for enabling/disabling the launching of pacmod along with the game controller node.
  • The default rotation speed of the steering wheel has been increased from 2.356195 rad/sec to 3.3 rad/sec.
• delphi_esr:
  • Breaking Change: Due to the addition of an Ethernet node, the delphi_esr node has been renamed to delphi_esr_can.
  • Feature Addition: The TrackMotionPower message is now published by the driver indicating the average amplitude of the returns used in the track and the movement of the track.
  • Preliminary Feature Addition: The driver now supports connecting to the sensor via CAN, Ethernet, or both. Ethernet support is exclusively for the Delphi ESR 2.5. For the ESR 2.5 12V version, a connection to both interfaces is required as the "radiate" command must be sent over CAN for the data to be produced on both interfaces. For the ESR 2.5 24V version, the sensor should auto-radiate so you can use either interface or both. Examples of how to launch the CAN and Ethernet nodes are provided in the launch files delphi_esr.launch and delphi_esr_eth.launch, respectively.
  • Bug Fix: ibeo_lux_transform.launch was missing several parameters that should have been available for changing.

• delphi_srr:

  • Bug fix: Corrects error causing stopping as_tx/detections from being published.
• ibeo_lux:
  • Bug fix: Increased loop rate significantly to handle all incoming messages from the sensor in a timely manner.
• mobileye_560_660:
  • Bug fix: view_range is now set on the LaneModels message.
  • Bug fix: obstacle_rel_vel_x is now being parsed correctly in the ObstacleData message.
• neobotix_usboard
  • A new driver for the Neobotix USBoard ultrasonic sensor kit is now included. Currently only parses basic data but many new features will be added soon.
• pacmod:
  • Bug fix: The scaling value for float-based message types (brake_rpt, accel_rpt) has been fixed.
  • Feature Addition: The GlobalRpt message now contains hardware error feedback (such as CAN timeouts and number of CAN read errors).
  • Feature Addition: A new parameter, vehicle_type, is available in the launch files. The driver now supports the vehicle types POLARIS_GEM, POLARIS_RANGER, and INTERNATIONAL_PROSTAR_122 as well as additional features (wipers, horn, etc.) that are specific to those vehicles.
  • Changes were made to decrease the CPU utilization and increase the responsiveness of the driver.
  • IMPORTANT NOTE: It was discovered that changes made to this driver in version 1.5.0 could cause a delay in the responsiveness of the vehicle. To correct this issue, make sure you have upgraded the Kvaser linuxcan SDK to the latest version (5.20 as of this writing).

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