Merge pull request #23 in OSHC/syropod_highlevel_controller from doc/fixed_changelog to master

* commit 'a0719f670a5f5d2b845a4043ca8ade9a6b854f3d':
  Fixed changelog order

Author: fctalbot

readme.md

@@ -2,7 +2,7 @@
 
 High level controller for CSIRO multi-legged robots (Syropods).
 
-Current version: v0.5.10
+Current version: v0.5.11
 
 Please use readme in launch folder of individual platform for information on setting up platform for use with Syropod High-level Controller.
 
@@ -173,47 +173,63 @@ For information on parameters see readme in config folder.
 
 ## Changelog:
 
-Note: Version control commenced at v0.4.0. No changes were logged before this version.
-
-- v0.4.0
-    - MAX ICRA paper submission version
-- v0.4.1
-    - Fixed bug with body velocity calculation using minFootprintRadius as a diameter
-    - Fixed bug with tip position jumping upon gait switch
-- v0.4.2
-    - 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
-- v0.4.3
-    - 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
-- v0.4.4
-    - Added angular velocity parameter for testing
-    - Refactored walk-controller velocity calculations
-    - Added 'real-world' velocity input mode toggled using 'velocity\_input\_mode' parameter
-- v0.4.5
-    - 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
-- v0.4.6
-    - Added body height compensation code to offset sinking body height from impedance controller
-    - Redesigned dynamic stiffness engine for use in impedance controller
-- v0.4.7
-    - 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
-- v0.4.8
-    - 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
-- v0.4.9
-    - Added functionality for manual leg manipulation (MLM)
-        - Posing to keep centre of gravity centred over centre of support whilst manipulating legs
-        - Added dynamic stifness on legs adjacent to MLM leg
-    - Added leg name mapping
-    - Added leg state message to consolidate all leg debugging topics
+- 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.
@@ -228,61 +244,48 @@ Note: Version control commenced at v0.4.0. No changes were logged before this ve
     - Modifications to tip trajectory calculations to maximise stride length and body acceleration.
     - Convertion of walk controller parameters from percentage based to real world values (SI units).
     - Changes to adhere to ROSCPP style guide.
-- v0.5.1
-    - New simpler Inverse Kinematics calculation method
-    - Improved workspace calculation
-- v0.5.2
-    - New iterative search based workspace generation method
-- 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.
-- v0.5.4
-    - 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
-- v0.5.5
-    - *Online specific foot placement
-- 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
-- v0.5.7
-    - 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
-- v0.5.8
-    - 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
-- v0.5.9
-    - 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.
-- v0.5.10
-    - 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
-- v0.5.11
-    - 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.
+- v0.4.9
+    - Added functionality for manual leg manipulation (MLM)
+        - Posing to keep centre of gravity centred over centre of support whilst manipulating legs
+        - Added dynamic stifness 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.
+
+
+