Updated readme

-  Moved changelog to seperate file
-  Formatting changes
- Added new sections

Author: benjamin-tam

CHANGELOG.md

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+# Changelog
+
+* v0.5.11
+  * Added more Bezier curve functionalities:
+    * Quadratic Bezier and curve to pass through control nodes.
+    * Cubic Bezier to pass through control nodes.
+    * Quartic Bezier to pass through control nodes.
+  * Added feature to move the leg to desired position based on direct Cartesian coordinates in the robot frame.
+  * Added topics that subscribes to topics published by Syropod Manipulation package.
+* v0.5.10
+  * Added dynamic tuning of step frequency parameter
+  * Added each leg workspace generation
+  * Added correct generation of 'walkspace', fit within leg workspace
+  * Fixed issues with externally set target/default tip poses
+  * Refactored published tf tree order for use with perception based odometry
+* v0.5.9
+  * Implemented real-time default tip position modification via topic
+  * Implemented estimation of gravity vector from IMU
+  * Added transform publisher between frames: odom, walk_plane, base_link and tip frames
+  * Added joint torque visualisations
+  * Added touchdown detection feature using data on tip state topic and tuned using new parameters: touchdown_threshold & liftoff_threshold
+  * Added feature to find ground contact by extending 2nd half of swing below walk plane (distance defined by parameter step_depth)
+  * Added feature to align tips with gravity using redundancy of leg or body posing.
+  * Refactored dynamic parameter tuning such that stopping Syropod is no longer required.
+* v0.5.8
+  * Implemented Plan Execution Mode (Transition to target configuration, body/tip pose/s) (Free Gait/Movement)
+  * Merged Auto Navigation mode and Cruise Control mode to free up Y Button for Plan Execution Mode
+  * Added callback and msg for externally setting target tip poses at end of swing period (Adaptive Gait)
+  * Added feature for multi-configuration-step pack/unpacking
+* v0.5.7
+  * Added Rough Terrain mode which includes the following features:
+    * Feature to allow tip range value to modify tip trajectory at end of swing to prevent early/late touchdown.
+    * Posing feature to pose robot body such that the final link of each leg completes swing periods vertically.
+    * Reworked trajectory engine to allow for vertical tip trajectory at end of swing during wave gait
+    * Feature to estimate walk plane and pose body accordingly.
+    * Added TipState message and callback to receive tip force/torque and range
+  * Consolidated tip force callbacks into single callback with custom message on topic "/tip_states"
+  * Added visualisations for the estimated walk plane and terrain
+* v0.5.6
+  * Added feature adding cost function to joints approaching limits to ensure joint space loop closure in redundant systems.
+  * Refactored joint/tip frame position functions and leg current/desired positions - to use pose (i.e. position & rotation)
+  * Added tip orientation visualisations for debugging
+* v0.5.5
+  * *Online specific foot placement
+* v0.5.4
+  * Modified direct startup sequence to operate in joint space instead of tip space to prevent joints jumping if initialised outside limits.
+  * Renamed impedance controller to 'admittance controller'
+  * Removed custom Quat class and instead replaced with Eigen::Quaterniond
+  * Removed IMU data transformation - SHC now expects IMU data in ROS REP103 coordinate frame
+  * Removed joint offset parameters - SHC now expects all joint offsetting to be enacted at the motor driver level
+* v0.5.3
+  * Improved Impedance Controller to make use of multi-joint effort values
+  * Added tip force estimate visualisation
+  * Added time limit to cruise control feature for use in running experiments.
+* v0.5.2
+  * New iterative search based workspace generation method
+* v0.5.1
+  * New simpler Inverse Kinematics calculation method
+  * Improved workspace calculation
+* v0.5.0
+  * Name change from simple_hexapod_controller to syropod_highlevel_controller, aka SHC.
+  * Full refactor of controller.
+  * Conversion to new coordinate system, adhering to ROS REP103
+  * Overhaul of generation of robot model using DH parameters.
+  * Overhaul of inverse/forward kinematics engine to handle up to 5 DOF legs.
+  * New control scheme (see syropod_remote readme)
+  * Redesigned start-ip/shut-down sequences.
+  * New bespoke auto posing system (see config/readme.md)
+  * Implementation of dynamic_reconfigure for key parameters.
+  * Modifications to tip trajectory calculations to prevent exceeding workspace.
+  * Modifications to tip trajectory calculations to maximise stride length and body acceleration.
+  * Conversion of walk controller parameters from percentage based to real world values (SI units).
+  * Changes to adhere to ROSCPP style guide.
+* v0.4.9
+  * Added functionality for manual leg manipulation (MLM)
+    * Posing to keep centre of gravity centred over centre of support whilst manipulating legs
+    * Added dynamic stiffness on legs adjacent to MLM leg
+  * Added leg name mapping
+  * Added leg state message to consolidate all leg debugging topics
+* v0.4.8
+  * Redesigned manual compensation to be controlled using velocity and reset on R3
+  * Moved compensation and impedance control outside of running state so compensation occurs during startup
+* v0.4.7
+  * Changed gaits to remove 'underlap' that existed for non*dynamic impedance controller
+  * Moved imu compensation code (and all other compensation code) to pose controller - deleted imuCompensation source file and header
+  * Redesigned auto-compensation to work for all gaits
+* v0.4.6
+  * Added body height compensation code to offset sinking body height from impedance controller
+  * Redesigned dynamic stiffness engine for use in impedance controller
+* v0.4.5
+  * Added inclination compensation feature which keeps body centre of gravity centred about the tip positions on inclined terrain
+  * Refactored how compensation methods combine and interact with each other
+* v0.4.4
+  * Added angular velocity parameter for testing
+  * Refactored walk-controller velocity calculations
+  * Added 'real-world' velocity input mode toggled using 'velocity\_input\_mode' parameter
+* v0.4.3
+  * Modified Tripod gait to have no 'underlap' between step cycles
+  * Modified the way auto/imu compensation interact with manual compensation. Manual compensation now 'stacks' with auto/imu compensation
+  * Added various debugging publishers
+* v0.4.2
+  * Redesigned tip trajectory engine using 3 quartic bezier curves - tip trajectory is now C2 smooth at zero body acceleration
+  * Removed redundant transition_period from step cycle and modified gait parameters/characteristics to reflect.
+  * Added auto-calculation option for linear and angular accelerations of body to ensure safe tip trajectories within bounds
+  * Added stance_depth parameter which allows vertical tip position component in stance phase of step cycle
+  * Changed various parameter names in line with new engine
+  * Added various debugging publishers
+* v0.4.1
+  * Fixed bug with body velocity calculation using minFootprintRadius as a diameter
+  * Fixed bug with tip position jumping upon gait switch
+* v0.4.0
+  * MAX ICRA paper submission version
+
+Note: Version control commenced at v0.4.0. No changes were logged before this version.