Release 2.1.0

jhu-dvrk · Aug 11, 2021 · 6ca0853 · 6ca0853
1 parent 6bba9f6
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,30 @@
 Change log
 ==========
 
+2.1.0 (2021-08-11)
+==================
+
+* API changes:
+  * Changed instrument identifier from `enum` to `std::string`
+  * Instrument name is now following the convention `name:model[version]`.  It used to be `name_model`
+* New features:
+  * Added new configuration file to list all supported instruments with option to load site specific list: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Custom-Instruments
+  * More instruments supported, including new Si Large Needle Driver with gears (version 12+)
+  * Instrument depth:
+    * Using Classic or S specific depth to determine if instrument should engage
+    * Using depth of joint 4 using forward kinematics to restrict motion towards/inside the cannula
+  * Updated wiki:
+    * Better calibration documentation: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Calibration
+    * PSM joint 3 calibration: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Potentiometer-calibration-for-PSM-insertion
+    * Classic vs S instruments: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Tool-Generations
+    * Support for custom instruments: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Custom-Instruments
+  * Updated JSON schemas: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Configuration-File-Formats
+  * Added example for *cisstRobotPython*
+* Bug fixes:
+  * Fixed range of motion used to engage sterile adapter and instruments to avoid encoder/pot errors
+  * Fixed bug in Matlab config generator for ECM
+  * Teleop PSM restarts automatically after an instrument's swap
+
 2.0.1 (2021-05-26)
 ==================
 

diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
@@ -50,9 +50,9 @@ if (cisst_FOUND_AS_REQUIRED)
   endif ()
 
   # saw components have been compiled within cisst, we should find them automatically
-  find_package (sawRobotIO1394          2.0.0 REQUIRED)
+  find_package (sawRobotIO1394          2.1.0 REQUIRED)
   find_package (sawControllers          2.0.0 REQUIRED)
-  find_package (sawIntuitiveResearchKit 2.0.1 REQUIRED)
+  find_package (sawIntuitiveResearchKit 2.1.0 REQUIRED)
   find_package (sawTextToSpeech         1.3.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND AND sawControllers_FOUND

diff --git a/applications/gripper-calibration/CMakeLists.txt b/applications/gripper-calibration/CMakeLists.txt
@@ -34,7 +34,7 @@ if (cisst_FOUND_AS_REQUIRED)
   endif ()
 
   # saw components have been compiled within cisst, we should find them automatically
-  find_package (sawRobotIO1394 2.0.0 REQUIRED)
+  find_package (sawRobotIO1394 2.1.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND)
 

diff --git a/applications/package.xml b/applications/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_applications</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>
   sawIntuitiveResearchKit Application
   </description>

diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt
@@ -44,7 +44,7 @@ if (cisst_FOUND)
 
   # saw components have been compiled within cisst, we should find them automatically
   find_package (sawTextToSpeech         1.3.0 REQUIRED)
-  find_package (sawRobotIO1394          2.0.0 REQUIRED)
+  find_package (sawRobotIO1394          2.1.0 REQUIRED)
   find_package (sawControllers          2.0.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND AND sawControllers_FOUND)
@@ -77,8 +77,8 @@ if (cisst_FOUND)
 
     # Set the version number
     set (sawIntuitiveResearchKit_VERSION_MAJOR "2")
-    set (sawIntuitiveResearchKit_VERSION_MINOR "0")
-    set (sawIntuitiveResearchKit_VERSION_PATCH "1")
+    set (sawIntuitiveResearchKit_VERSION_MINOR "1")
+    set (sawIntuitiveResearchKit_VERSION_PATCH "0")
     set (sawIntuitiveResearchKit_VERSION "${sawIntuitiveResearchKit_VERSION_MAJOR}.${sawIntuitiveResearchKit_VERSION_MINOR}.${sawIntuitiveResearchKit_VERSION_PATCH}")
 
     # Generate sawIntuitiveResearchKitRevision.h

diff --git a/components/package.xml b/components/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>
   sawIntuitiveResearchKit
   </description>

diff --git a/examples/derivedTeleOperationPSM/components/CMakeLists.txt b/examples/derivedTeleOperationPSM/components/CMakeLists.txt
@@ -40,7 +40,7 @@ if (cisst_FOUND)
 
   # sawIntuitiveResearchKit has been compiled within cisst, we should
   # find it automatically
-  find_package(sawIntuitiveResearchKit 2.0.0 REQUIRED)
+  find_package(sawIntuitiveResearchKit 2.1.0 REQUIRED)
 
   if (sawIntuitiveResearchKit_FOUND)
 

diff --git a/examples/derivedTeleOperationPSM/components/package.xml b/examples/derivedTeleOperationPSM/components/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_example_derived_teleop_psm</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>
   sawIntuitiveResearchKit Example
   </description>

diff --git a/share/package.xml b/share/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dvrk_config</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>dVRK config files</description>
 
   <maintainer email="anton.deguet@jhu.edu">Anton Deguet</maintainer>

diff --git a/tests/package.xml b/tests/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_tests</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>
   sawIntuitiveResearchKit Tests
   </description>