CHANGELOG

Changelog for package talos_description

2.0.2 (2025-03-12)

• Merge branch ‘collision’ into ‘humble-devel’ Collision See merge request robots/talos_robot!140

• Modify collision_parameters.yaml

• Update collision_parameters.yaml

• Adapt collision_parameters.yaml to new ARILES version

• Contributors: Adria Roig, Adrià Roig

2.0.1 (2024-09-26)

2.0.0 (2024-09-18)

• Merge branch ‘ros2-migration’ into ‘humble-devel’ Ros2 migration See merge request robots/talos_robot!130

• Fix the leg_left_5_joint parameter to be double

• Parse the PID config file to the gazebo_ros2_control ROS 2 node

• Add position PID parameters config file https://github.com/ros-controls/gazebo_ros2_control/pull/374 is merged

• Set hold_joints to false

• Propagate arg from gazebo launch to robot_state_publisher

• Adding orientus sensor when launching the robot

• Fixed torso transmission actuator name

• Commenting gripper mimic joints not working in real robot

• Merge branch ‘fix/talos/transmissions/ros2’ into ‘ros2-migration’ Fix/talos/transmissions/ros2 See merge request robots/talos_robot!133

• Fix the torso transmission duplication in ros2_control xacro

• Fix the wrist transmission of the ros2_control xacro

• fix the arm transmission ros2_control xacro

• Adding robot_state_publisher module

• Remove invalid and unnecessary dependencies

• Add the possibility to start the simulation with a fixed base or not.

• Export the odometry of the base from gazebo

• [format]

• add force sensor at the feet

• Try to add the ankle FT sensors for Talos and connect them to ros2_control

• [talos_descirption] Try to add the force sensors at the feet

• Remove colons from urdf comments

• fix talos_description CMakeLists

• delete useless gazebo plugin for talos

• enable play_motion2

• update gripper mimic joint and sensors

• imu sensor ros2_control

• add talos_controller_configuration depend.

• add sensors in ros2_control

• working version with default position controllers

• fix publish_frequency passed value (double and not a string)

• fix torso and head ros2_control

• migrate all the basic launch files

• visualization complete for all the models of TALOS

• make available the spawn of the full_fake_grippers and no_grippers

• visualization of the arm right model

• config files for talos_description

• migration of CMakeLists.txt and package.xml to ros2 - description

• Contributors: Adrià Roig, Jordan Palacios, Maximilien Naveau, Sai Kishor Kothakota, ileniaperrella

1.1.30 (2023-11-08)

1.1.29 (2023-10-24)

• Merge branch ‘change_license_to_apache’ into ‘erbium-devel’ change public license to Apache License 2.0 See merge request robots/talos_robot!126

• change public license to Apache License 2.0

• Contributors: Jordan Palacios, Sai Kishor Kothakota

1.1.28 (2023-02-07)

• Merge branch ‘mlu/fix/xacro’ into ‘erbium-devel’ xacro is used in the build of talos_description See merge request robots/talos_robot!122

• xacro is used in the build of talos_description

• Contributors: Adria Roig, Mathias Lüdtke

1.1.27 (2023-01-18)

• Merge branch ‘add_realsense_dependencies’ into ‘erbium-devel’ :heavy_plus_sign: Added missing realsense description and gazebo plugin dependency See merge request robots/talos_robot!121

• heavy_plus_sign:

  Added missing realsense description and gazebo plugin dependency

• Contributors: Adria Roig, saikishor

1.1.26 (2022-10-13)

• Merge branch ‘urdf_srdf’ into ‘erbium-devel’ Add URDF and srdf file in talos_description See merge request robots/talos_robot!120

• Install an urdf for talos in talos_description compiled from the xacro

• Add srdf file for Talos

• Contributors: Pierre Fernbach, saikishor

1.1.25 (2022-09-19)

1.1.24 (2022-04-20)

• Merge branch ‘fix_camera_frame’ into ‘erbium-devel’ Fix wrong optical frame See merge request robots/talos_robot!118

• Fix wrong optical frame

• Contributors: Adria Roig

1.1.23 (2022-03-02)

• Merge branch ‘add_flexibility’ into ‘erbium-devel’ Add flexibility See merge request robots/talos_robot!112

• Add very small mass and inertia to flexibility links (because of issue in pybullet with null values for inertia)

• Add zero config value for flexibility joints

• Forward parameter name from upload_talos to upload

• Add transmission for the flexibility

• increase torque limit of the flexibility

• Fix xacro for flexibility

• Add argument to launch file to use flexibility

• Add hip flexibility option in xacro file

• Contributors: Pierre Fernbach, saikishor

1.1.22 (2022-02-22)

• Merge branch ‘centroidal_mpc’ into ‘erbium-devel’ Centroidal mpc See merge request robots/talos_robot!114

• Added offset_y=0.00 as suggested in comment for MR

• Add rviz in talos_joint_command_rviz.launch

• Added model with fake grippers to take into account weight of grippers when not present in model

• fixed talos_joint_command_rviz

• Add foot contact frames

• Contributors: Adria Roig, enricomingo, narcismiguel

1.1.21 (2021-12-01)

1.1.20 (2021-11-17)

• Merge branch ‘uedin_markers’ into ‘erbium-devel’ Make modifications for the UEDIN markers See merge request robots/talos_robot!111

• Set the zero calibration constants in the arms for the tests

• Merge branch ‘pal_physics_simulator_fix’ into ‘erbium-devel’ talos zero configuration fix for pal_physics_simulator See merge request robots/talos_robot!110

• Fix wrong transformations / meshes in the camera

• Make modifications for the UEDIN markers

• talos zero configuration fix for pal_physics_simulator

• Contributors: Adria Roig, saikishor

1.1.19 (2021-08-26)

1.1.18 (2021-05-26)

1.1.17 (2021-03-05)

• Merge branch ‘lower_body_calibration’ into ‘erbium-devel’ Lower body calibration See merge request robots/talos_robot!106

• Lower body calibration

• Merge branch ‘calib_offsets’ into ‘erbium-devel’ Calib offsets See merge request robots/talos_robot!105

• Fix head and torso calibration

• Enable 6D calibration of arm, head and torso joints.

• Contributors: Adria Roig, Joseph Mirabel, narcismiguel, victor

1.1.16 (2020-11-13)

• Merge branch ‘lidar_head’ into ‘erbium-devel’ Lidar head See merge request robots/talos_robot!104

• added lidar head_2 meshes

• use the default suffix to the old meshes

• Update head xacro to use the new meshes

• Pass head type as an argument to the urdf

• Fix the argument to the TALOS head macro

• added the conditions for the new lidar head version with intel t265, d435, and ouster lidar

• added the ouster sensor mesh and initial URDF commit

• added head version argument in the head urdf xacro

• Contributors: Sai Kishor Kothakota, victor

1.1.15 (2020-08-01)

1.1.14 (2020-07-30)

• Merge branch ‘configurable-imu-offsets’ into ‘erbium-devel’ Configurable imu offsets See merge request robots/talos_robot!101

• Add configurable imu xyz

• Add configurable imu rpy offsets

• Contributors: Victor Lopez, victor

1.1.13 (2020-07-30)

1.1.12 (2020-07-21)

1.1.11 (2020-07-21)

1.1.10 (2020-07-15)

1.1.9 (2020-07-14)

1.1.8 (2020-07-13)

1.1.7 (2020-07-02)

• Merge branch ‘2KHz’ into ‘erbium-devel’ 2 k hz See merge request robots/talos_robot!94

• Don’t increase y foot collision mesh so much

• increase the size of the foot collision model

• increase the size of the foot collision model

• Contributors: Sai Kishor Kothakota, Victor Lopez, victor

1.1.6 (2020-06-29)

1.1.5 (2020-05-08)

1.1.4 (2020-05-06)

1.1.3 (2020-03-05)

• Merge branch ‘talos_specific_addons’ into ‘erbium-devel’ Talos specific addons See merge request robots/talos_robot!86

• change add_ons by addons

• added talos_addons macro to add talos specific transformations

• Contributors: Sai Kishor Kothakota, jordanpalacios

1.1.2 (2020-01-14)

1.1.1 (2020-01-14)

1.1.0 (2020-01-10)

• Merge branch ‘disable_gazebo_camera’ into ‘erbium-devel’ added option to disable the gazebo camera plugin See merge request robots/talos_robot!83

• added option to disable the gazebo camera plugin

• Contributors: Sai Kishor Kothakota, Victor Lopez

1.0.52 (2019-11-29)

• Merge branch ‘new_effort’ into ‘erbium-devel’ Increase max effort for the knees See merge request robots/talos_robot!80

• Increase max effort for the knees

• Contributors: Adria Roig, Jordan Palacios

1.0.51 (2019-07-15)

1.0.50 (2019-07-10)

1.0.49 (2019-05-30)

1.0.48 (2019-03-27)

1.0.47 (2019-03-19)

1.0.46 (2019-03-07)

• Change license to LGPL-3.0

• Contributors: Victor Lopez

1.0.45 (2018-12-20)

1.0.44 (2018-11-29)

1.0.43 (2018-11-22)

1.0.42 (2018-11-21)

1.0.41 (2018-11-20)

1.0.40 (2018-11-02)

• Merge branch ‘as_arm_base_rename’ into ‘erbium-devel’ Rename base link of detached arm See merge request robots/talos_robot!64

• Rename base link of detached arm

• Contributors: alexandersherikov

1.0.39 (2018-10-25)

1.0.38 (2018-10-24)

• Merge branch ‘as_extend_blacklist’ into ‘erbium-devel’ Collision blacklisting: wrists, sensors, grippers See merge request robots/talos_robot!62

• Collision blacklisting: wrists, sensors, grippers

• Contributors: alexandersherikov

1.0.37 (2018-10-23)

• Merge branch ‘as_self_coll_merge_test’ into ‘erbium-devel’ As self coll merge test See merge request robots/talos_robot!61

• Temporary revert changes in configuration_initializer.yaml This should allow to merge changes without breaking tests.

• Merge branch ‘as_self_coll_merge_test’ into as_sim_self_collisions

• Change format of collision blacklist

• Update collision model parameters.

• Added loading of collision parameters.

• Update collision model parameters.

• Added loading of collision parameters.

• Contributors: alexandersherikov

1.0.36 (2018-10-18)

1.0.35 (2018-10-17)

• deleted changelogs

• Merge branch ‘head’ into ‘erbium-devel’ open loop parameters See merge request robots/talos_robot!56

• open loop parameters

• Reduced limits for laas talos

• Contributors: Hilario Tome, Jordan Palacios

1.0.34 (2018-09-28)

• Updated changelog

• Merge branch ‘current_limit_controller’ into ‘erbium-devel’ Add cfg files for rviz and plotjuggler See merge request robots/talos_robot!54

• Add cfg files for rviz and plotjuggler

• Contributors: Jordan Palacios, Luca Marchionni

1.0.33 (2018-09-27)

• updated changelog

• Contributors: Hilario Tome

1.0.32 (2018-09-25)

• Updated changelogs

• Add default rviz config file for talos

• Contributors: Jordan Palacios, Luca Marchionni

1.0.31 (2018-09-12)

• updated changelogs

• Contributors: Hilario Tome

1.0.30 (2018-09-06)

• Updated changelog

• Contributors: alexandersherikov

1.0.29 (2018-09-03 20:05)

• update changelog

• Contributors: Hilario Tome

1.0.28 (2018-09-03 10:22)

• Updated changelog

• Contributors: alexandersherikov

1.0.27 (2018-08-28)

• updated changelog

• Contributors: Hilario Tome

1.0.26 (2018-08-24)

• updated changelog

• Contributors: Hilario Tome

1.0.25 (2018-08-01 15:05)

• updated changelog

• Contributors: Hilario Tome

1.0.24 (2018-08-01 15:03)

• updated changelog

• Contributors: Hilario Tome

1.0.23 (2018-07-30)

• updated changelog

• Contributors: Hilario Tome

1.0.22 (2018-07-25 18:04)

• Updated changelog

• Contributors: alexandersherikov

1.0.21 (2018-07-25 15:16)

• Updated changelog

• Merge branch ‘as_limit_fix’ into ‘erbium-devel’ Fix upper limit for arm_*_4_joint. See merge request robots/talos_robot!37

• Fix upper limit for arm_*_4_joint.

• Contributors: alexandersherikov

1.0.20 (2018-07-24 17:10)

• Updated changelog

• Merge branch ‘as_arm_testbench’ into ‘erbium-devel’ Configuration files for separate arm_right See merge request robots/talos_robot!36

• Configuration files for separate arm_right

• Contributors: alexandersherikov

1.0.19 (2018-07-24 11:02)

• Updated changelog

• Contributors: alexandersherikov

1.0.18 (2018-07-19)

• Updated changelog

• Contributors: alexandersherikov

1.0.17 (2018-07-16)

• updated changelog

• Contributors: Hilario Tome

1.0.16 (2018-07-12)

• Updated changelog

• Contributors: alexandersherikov

1.0.15 (2018-07-11)

• updated changelog

• Contributors: Hilario Tome

1.0.14 (2018-07-10)

• Updated changelog

• Merge branch ‘as_plus_head’ into ‘erbium-devel’ Add head to arm-less configuration See merge request robots/talos_robot!30

• Add head to arm-less configuration

• Contributors: alexandersherikov

1.0.13 (2018-07-09)

• Updated changelog

• Merge branch ‘new_estimator’ into ‘erbium-devel’ Unloader of position controllers, default base pose See merge request robots/talos_robot!29

• upload: load default floating base poses.

• Contributors: alexandersherikov

1.0.12 (2018-07-04 20:59)

• Updated changelog

• Merge branch ‘as_selective_loading’ into ‘erbium-devel’ Refactoring to allow partial robot loading. See merge request robots/talos_robot!26

• Add default locomotion state, fix controller configs

• partial models: launch file renames & refactoring

• Fix typo in upload_talos.launch

• Refactoring to allow partial robot loading.

• Contributors: alexandersherikov

1.0.11 (2018-07-04 12:15)

• updated changelog

• Merge branch ‘fix_head_vel’ into ‘erbium-devel’ fixed head velocity See merge request robots/talos_robot!28

• fixed head velocity

• Contributors: Hilario Tome

1.0.10 (2018-07-04 10:27)

• updated changelog

• Merge branch ‘gripper_effort’ into ‘erbium-devel’ added gripper effort support See merge request robots/talos_robot!27

• added gripper effort support

• Contributors: Hilario Tome

1.0.9 (2018-06-21)

• Updated changelog

• Merge branch ‘as_default_configuration’ into ‘erbium-devel’ Added default configuration. See merge request robots/talos_robot!22

• support different default configuration types.

• Added default configuration.

• Contributors: Hilario Tome, alexandersherikov

1.0.8 (2018-06-20)

• updated changelog

• Contributors: Hilario Tome

1.0.7 (2018-06-19 11:08)

• updated changelog

• Contributors: Hilario Tome

1.0.6 (2018-06-19 00:30)

• updated changelog

• Contributors: Hilario Tome

1.0.5 (2018-06-15)

• updated changelog

• Merge branch ‘as_merge_talos_versions’ into ‘erbium-devel’ merge talos versions, add tests. See merge request robots/talos_robot!20

• merge talos versions, add tests.

• Contributors: Hilario Tome, alexandersherikov

1.0.4 (2018-06-12)

• updated changelog

• Merge branch ‘new-arm-pids’ into ‘erbium-devel’ Fix max wrist effort See merge request robots/talos_robot!18

• Fix max wrist effort

• Contributors: Hilario Tome, Victor Lopez

1.0.3 (2018-05-29)

• Update changelog

• Contributors: Luca Marchionni

1.0.2 (2018-04-18)

• updated changelog

• Merge branch ‘fix_simulation’ into ‘erbium-devel’ fixed gripper command mode: See merge request robots/talos_robot!16

• fixed merge

• fixed merge

• fixed gripper command mode:

• Contributors: Hilario Tome

1.0.1 (2018-04-13)

• Update changelog

• Contributors: Victor Lopez

1.0.0 (2018-04-12)

• updated changelogs

• Merge branch ‘as_identification’ into ‘erbium-devel’ revised inertial parameters + other fixes) See merge request robots/talos_robot!12

• upload.launch: added –inorder flag

• Inertials in a separate package. [dubnium compatibility is lost!]

• Minor fix in inertial parameters of orbbec_astra_pro.

• Mark ‘upload_talos.launch’ as deprecated.

• Fix IMU orientation (again)

• Fix orientation of IMU, delete TODO comments.

• Updated dynamic parameters of the grippers. Note: sensor between the wrist and gripper is split into two links, I set inertial parameters of the first one, considering the second one negligible. This must be reviewed.

• Fixed typo in leg URDF.

• Indentation & comments.

• Updated meshes for link_2 of leg.

• Leg urdf: updated inertial parameters

• Added upload.launch which should be used instead of upload_talos.launch

• Clean fake crane link, fix imu orientation.

• Deleted ftsensor.gazebo.xacro (copied from Reem-C and not used)

• New inertials of the torso (incorrectly generated earlier) & head.

• torso_link_1 inertial parameters (now ok)

• Updated dynamic parameters of the torso.

• Updated inertial parameters of the arms (they look ok now)

• New inertial parameters of links 1 and 2 in the arm (2 seems to be wrong).

• Added optional fake crane link.

• Foot collision object can now be specified as an option.

• Various fixes in the model.

• Deleted trailing whitespaces in xacro files.

• Merge branch ‘add-talos-description-calibration’ into ‘erbium-devel’ Add talos description calibration See merge request robots/talos_robot!13

• Add head and camera calibration offsets

• Use xacro –inorder to substitute properties in a filename

• Talos arms will use description_calibration

• Contributors: Hilario Tome, Victor Lopez, alexandersherikov

0.0.24 (2018-04-04)

• Update changelog

• Remove baseline and reduce clipping of orbbec_astra_pro

• Merge branch ‘fix-tor-talos-naming-issues’ into ‘dubnium-devel’ Fix issues when replacing tor with talos See merge request robots/talos_robot!9

• Merge branch ‘high-res-framerate’ into ‘dubnium-devel’ Fix HR camera framerate See merge request robots/talos_robot!11

• Fix HR camera framerate

• Fix issues when replacing tor with talos

• Merge branch ‘camera-fixes’ into ‘dubnium-devel’ Add high_res camera and remove IR which was just rgb See merge request robots/talos_robot!10

• Add high_res camera and remove IR which was just rgb

• Contributors: Hilario Tome, Victor Lopez, davidfernandez

0.0.23 (2018-02-19)

• updated changelog

• Revert “increased effort limit in torso joint, use mesh collision for the feet.” This reverts commit 79da15cf0422f552dae87f6bb7ccacd83059989f.

• increased effort limit in torso joint, use mesh collision for the feet.

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Contributors: Hilario Tome, alexandersherikov

0.0.22 (2017-11-11)

• Update changelog

• Contributors: Victor Lopez

0.0.21 (2017-11-10)

• Update changelog

• Merge branch ‘use-orbbec-pro’ into ‘dubnium-devel’ Use orbbec pro with correct resolution in simulation See merge request robots/talos_robot!5

• Use orbbec pro with correct resolution in simulation

• Merge branch ‘better-gripper-collisions’ into ‘dubnium-devel’ Collisions that better match the real shape of the gripper See merge request !4

• Collisions that better match the real shape of the gripper

• changed gripper plugin to use PID instead of position API

• Contributors: Hilario Tome, Hilario Tomé, Victor Lopez

0.0.20 (2017-08-10 16:33)

• updated changelog

• fixed type in urdf model

• Contributors: Hilario Tome

0.0.19 (2017-08-10 12:41)

• updated changelog

• modified limits of gripper, leg 5 joint, and arm v2 1 joint

• clenaed lower body model

• Merge branch ‘test_urdf’ into ‘dubnium-devel’ Test urdf files See merge request !3

• Test urdf files

• Contributors: Hilario Tome, Hilario Tomé, davidfernandez

0.0.18 (2017-07-26)

• updated changlog

• Contributors: Hilario Tomé

0.0.17 (2017-07-18)

• updated changelog

• Fix type in arm_v2 and rename arm_v1 urdf

• remove file with no version for arm

• Added version v1, v2 for urdf and restored walk_pose

• cleanup

• fixed lower body model

• Contributors: Hilario Tome, Hilario Tomé, luca

0.0.16 (2017-02-17)

• Updated changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Contributors: Hilario Tome

0.0.15 (2016-11-16)

• Add changelog

• Safe range of motion for upper body

• Fix right wrist differential transmission sign

• Contributors: Luca

0.0.14 (2016-11-15 18:27)

• Add changelog

• Contributors: Luca

0.0.13 (2016-11-15 13:10)

• Add changelog

• Contributors: Luca

0.0.12 (2016-11-15 10:01)

• Add changelog

• Cleaninng and renaming v2 to default

• Update hip z link meshes

• Contributors: Luca

0.0.11 (2016-11-12 14:09)

• Add changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Fix imu tf and frame

• Contributors: Luca

0.0.10 (2016-11-12 12:48)

• Update changelog

• Contributors: Victor Lopez

0.0.9 (2016-11-12 11:14)

• Add changelog

• Contributors: Luca

0.0.8 (2016-11-11)

• Add changelog

• Removed xacro if

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Added motions, and ft sensor signs fixed

• Contributors: Luca

0.0.7 (2016-11-10 18:45)

• Updated changelog

• Contributors: Hilario Tome

0.0.6 (2016-11-10 18:16)

• Updated changelog

• Contributors: Hilario Tome

0.0.5 (2016-11-10 12:06)

• Updated changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Fix frame for wrist ft sensors

• Contributors: Hilario Tome, Luca

0.0.4 (2016-11-09)

• Updated changelog

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Head talos finally working hardware, added wrists ft to pal hardware

• MoveIt and play_motion config files

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Merge branch ‘dubnium-devel’ of gitlab:robots/talos_robot into dubnium-devel

• Fixed head differential

• Changed gazebo feedback to base_link

• Merge remote-tracking branch ‘origin/fix_right_wrist_and_gripper’ into dubnium-devel

• Fix right wrist and gripper rotations

• Invert torso joints order. Check base_link

• Contributors: Hilario Tome, Hillario Tome, Luca

0.0.3 (2016-10-31)

• Updated changelog

• Added default 0 noise to simulated imu

• Temporaly fixed arm dynamics

• Changed head differential, default controllers stopped

• Succesfull walking in talos, added talos teleop

• Contributors: Hilario Tome

0.0.2 (2016-10-13)

• Updated changelog

• Added sub models to debug gazebo and added implicit tag simulation to 1.0

• Contributors: Hilario Tome

0.0.1 (2016-10-12)

• Created intial changelog

• Clean up

• Fixed merge

• Added missing foot mesh and changed default topic for state estimator

• Removing joint state publication of virtual joints

• Fix gripper movement in simulation. Add colors to model

• Change gripper motor joint to just side_gripper_joint

• Fix gripper controller and add controller launchers for follow joint trajectory controllers

• Fix warning of inconsistent namespace redefinitions for xmlns:xacro:

• Updating to new gripper

• Using new gripper

• Add new gripper model

• Finished renaming

• Finished renaming

• Fixing

• Renamed tor to talos

• Contributors: Hilario Tome, Sam Pfeiffer