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

Estimation

• 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