iCub Software release 1.18.0

What's Changed

• FirmwareUpdater - configurable IPs by @davidetome in #679
• Update packages_vars.sh by @Nicogene in #680
• added CLI option to FirmwareUpdater by @davidetome in #682
• FirmwareUpdater - Added new CLI options by @davidetome in #683
• FirmwareUpdater fixed bug in saveDatFileStrain2 by @davidetome in #684
• Removed unused firewirebusreset binary by @pattacini in #686
• [cmake] Cleanup unused dependency IPP by @traversaro in #687
• Update packages_vars.sh by @Nicogene in #689
• Fix on icubSIM joint limits by @randaz81 in #690
• Update packages_vars.sh for 2020.11 release by @Nicogene in #692
• Fix icub-common creation script by @Nicogene in #693

Full Changelog: v1.17.0...v1.18.0

iCub Software release 1.17.0

What's Changed

• Update face expressions documentation by @Nicogene in #660
• CanBusMotionControl: do not print an error if getCurrentRangeRaw is used by @traversaro in #663
• CanBusMotionControl: do not raise error if motorPwmLimit is not found by @traversaro in #662
• Added iCubInertialSensorWaist for iCub v2.7 by @pattacini in #664
• Add relocatable CMakeConfig files. by @Nicogene in #652
• Fix components on debian buster and better handling of internal dependencies by @Nicogene in #667
• Fix iCub config by @Nicogene in #670
• Update ICUBConfig.cmake.in by @Nicogene in #671
• ARE: added conf files for Gazebo by @pattacini in #672
• Scripts and conf files to run gazebo simulations by @pattacini in #674
• icub-common creation with GH action by @mbrunettini in #675
• [WBD] fixed handling of MAS periodicity by @pattacini in #677

New Contributors

• @mbrunettini made their first contribution in #675

Full Changelog: v1.16.1...v1.17.0

iCub Software release 1.16.1

This feature release includes some sw changes needed by iCubs version 2.7 (see https://icub-tech-iit.github.io/documentation/icub_versions/ for more details)

iCub Software release 1.16.0

v1.16.0

Cleanup yarp and ycm version

iCub Software release 1.15.0

v1.15.0

iCub Software Release v1.15.0

iCub Software release 1.13.0

v1.13.0

iCub Software release 1.13.0

iCub Software release 1.12.0

v1.12.0

iCub Software release 1.12.0

iCub Software release 1.10.0

v1.10.0

iCub release 1.10.0

iCub Software release 1.8.0

iCub 1.8.0 Release Notes

Important Changes

Configuration Files

• changed file names pattern: now all file has following pattern:
  body_part-ebX-jA_B-type_of_file.xml

• in files body_part-ebX-jA_B-mc.xml:

  • added TIMEOUT group with velocity parameter.
  • added CONTROL group for new management of PID configuration. With this
    new feature, the user can write more than one pid configuration in the file
    and can select one by writing its name in CONTROL group.

• in files body_part-ebX-jA_B-mc_service.xml:

  • in ENCODER1 and ENCODER2 groups added resolution and numofnoisebits
    parameters.
  • removed group CONTROLLER. The coupling matrices have been moved in
    machanical file.

• in files body_part-ebX-jA_B-mec.xml:

  • added following parameters in GENERAL group
    • fullscalePWM: Value of fullscale pwm. This values is equal for all
      joints, becuse it depend on type of board, ems, mc4plus, etc.
    • ampsToSensor: Scale value for the ampsToSensor conversion factor.
    • Gearbox_M2J: This is the total reduction factor between joint and
      encoder.
    • Gearbox_E2J: This is the reduction factor between the joint and
      the encoder at joint. (Usually it is 1)
    • useMotorSpeedFbk: Indicate if the motor controller uses feedback from
      motors to compute speed. Allowed values are [0, 1]
  • added group 2FOC wich contains all parameter regarding 2FOC board
    configuration. These parameters have been moved from GENERAL group to
    2FOC group. Parameters about 2foc configuration are:
    • HasHallSensor: Indicates if hall sensors are connected to 2FOC board
    • HasTempSensor: Indicates if temperature ensor are connected to 2FOC
      board
    • HasRotorEncoder: Indicates if rotor has encoder
    • HasRotorEncoderIndex: Indicates if the rotor encoder has index
    • HasSpeedEncoder: It is as an alternative to rotorEncoder. It is not
      used for FOC controller.
    • RotorIndexOffset: Rotor index offset between first electric sector and
      encoder index [degree]
    • MotorPoles: Number of poles of motor
  • added group COUPLINGS; it contains matrixJ2M (joint to motor),
    matrixM2J (motor to joint), matrixE2J (Encoder to joint) parameters.
  • added JOINTSET_CFG group. it contains specification of each joint set.
  • added LIMITS group. Its parameters are :
    • hardwareJntPosMax: Max hardware position of joint [expressed in
      degrees]. Due to mechanical constraints.
    • hardwareJntPosMin: Min hardware position of joint [expressed in
      degrees]. Due to mechanical constraints.
    • rotorPosMin: (moved from body_part-ebX-jA_B-mc.xml file)
    • rotorPosMax: (moved from body_part-ebX-jA_B-mc.xml file)

iCub Software release 1.6.0

This is the iCub Software release 1.6.0