0.6.3 (2011-04-19)

  • Add optional argument for minimum interval duration (in internal API)
  • Documenting more internal APIs

0.6.2 (2011-03-14)

  • Fixing action server deprecations
  • Scatterplot generation no longer crashes when no data is available

0.6.1 (2011-02-07)

  • Porting rosrecord calls to rosbag

0.6.0 (2011-02-01)

  • Moving most robot_calibration packages into pr2_calibration
  • Compatibility fix for Header in Diamondback

0.5.1 (2010-3-24)

  • Scatterplot generation no longer crashes when no data is available <<Ticket(wg-ros-pkg 5080)>>

0.5.0 (2010-10-14)

  • The hi-resolution Prosilica head camera's location is now being estimated during full system calibration.
  • Wide stereo settling criteria is now a little more lenient for capturing large checkerboards r44928

0.4.3 (2010-09-14)

  • Updated checkerboard spacing for 4x5 checkerboards. The 4x5 checkerboards shipped with the PR2 (Part 68-03823) are not exactly 0.025m spacing. r44766

0.4.3 (2010-06-28)

  • Now confirming that we have the correct permissions to write to ./robot_calibrated.xml

  • Now making all temporary files in /tmp/pr2_calibration writable.

  • Prosilica calibration script now uses a 7x6 checkerboard instead of an 8x6.

0.4.2 (2010-05-21)

  • Now use a large 7x6 checkerboard (instead of 8x6) through the entire pipeline
  • Data Capture App:
    • Provides more sensible information about success and failures <<Ticket(wg-ros-pkg 4351)>>

    • No longer spews teleop data <<Ticket(wg-ros-pkg 4350)>>

    • Clearly displays which sensors are enabled

0.4.1 (2010-05-10)

  • Now bringing up teleop_joystick app with capture_data application
  • No longer commanding during large checkerboard capture, thus letting it play nicely with teleop joystick
  • Added launch file for calibrating prosilica camera <<Ticket(wg-ros-pkg 4249)>>

  • Can now view estimated checkerboard poses in RViz as markers
  • Gripper controllers no longer crash when bringing up teleop joystick alongside calibration app
  • Bugfix: Added missing ipython & python-tk rosdeps

0.4.0 (2010-04-21)

Data Capture

  • Users can now collect both small-close and large-far checkerboards
  • The robot_description is stored in the measurement bagfile
  • Now comes up with a single launch file


  • Optimization routine completely revamped in order to to explicitly models sensor noise
  • Head-Laser loop is calibrated first, and then locked. Arms are added afterwards, and cannot hurt the head-laser calibration
  • Measurement bagfiles are automatically copied into /hwlog after estimation

URDF Writer

  • Now uses the robot_description in the bagfile (and not robot.xml) to generate a new URDF
  • No longer relies on newlines in URDF
  • Added convenience script to improve usability

0.3.1 (2010-03-30)

  • Updated launch & config files with renamed forearm camera on hardware

  • (Bugfix) Removing out-of-range laser measurement from a single sample

0.3.0 (2010-03-02)

  • Factored estimation into left-arm and right-arm steps wherever possible
  • Now using cross-forearm and same-forearm samples to improve arm parameters estimates
  • Restructured estimation configuration file format to be more flexible

0.2.1 (2010-02-23)

  • Now also storing rectified images in calibration bagfile
  • Reconfiguring Hokuyo node on startup

0.2.0 (2010-02-01)

  • Added both forearm cameras into PR2's calibration routine
  • Added many more capture samples for both arms (62 Total)
  • All temporary files are stored in either /tmp/pr2_calibration or the current working directory

0.1.2 (2010-01-21)

  • Removed an unintentional dependency on pr2_defs

0.1.1 (2010-01-20)

  • Initial Release
  • Adding a rudimentary set of tools to run the PR2 calibration pipeline

Wiki: pr2_calibration/ChangeList/pre-1.0 (last edited 2011-05-23 21:40:11 by VijayPradeep)