All,
The robot_model stack reached version 1.2! This stack contains the
toolchain to construct a kinematic/dynamic model of your robot (urdf),
and integrate that model with the transform library (tf), the
kinematics and dynamics library (kdl), our simulator (gazebo),
collada, etc.
This is a stable release that will get included in our upcoming
C-turtle distro. Compared to the 1.0 release, many bugs got fixed, and
some exciting new features were added. A few highlights:
* Collada:
- new packages to convert URDF models into Collada format
* Robot state publisher:
- supports publishing robot models with only fixed links,
- allows partial joint state vectors, and
- correctly deals with robot models that only have 1 or 2 links.
* URDF and kdl parser:
- read robot model directly from parameter server
For a complete list of the changes, see
<
http://www.ros.org/wiki/robot_model/ChangeList/1.2>.
One of the bugfixes in the urdf package might cause regression if you
have a urdf file that does not comply with the spec. A bug in the
parser could in some cases have added links to your model if you
referred to a link from a joint block, but forgot to specify the link
block itself. Now the parser will always fail if you forget to specify
a link block. When this happens, the parse error will give you all
information on how to fix your urdf file.
Wim
--
--
Wim Meeussen
Willow Garage Inc.
<
http://www.willowgarage.com)
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