1.6.1 (2012-11-2)

• XML option for wrist transmission to add offset to flex and roll joints

1.6.0 (2011-01-26)

• Port away from the eigen stack

• pr2_controller_manager

  • Fix in spawner when loading an entire yaml file. Thanks to asomerville for the fix. <<Ticket(wg-ros-pkg 5145)>>

• Remove deprecated urdf include
• disable setting commanded effort for virtual slider joint as it breaks sim by applying double force and does not affect hardware
• Added option to all halting for motors when a force/torque error is detected.
• Added interface for force/torque sensor.
• update to new rosparam api