0.12.0 Release Notes

What's New

ROS 1 & 2 Support

We are now by default wire compatible with ROS 2!

To use with ROS 1, download our prebuilt ROS 1 ↔ ROS 2 bridge process here: https://bintray.com/ihmcrobotics/distributions/ihmc-ros1-bridge/0.12.0#files

Features

• New standalone application to run Atlas and Valkyrie with XBox controller.
• Controller computation time reduction.
• Controller tuneup for Valkyries.

Dependency Upgrades

• Euclid 0.7.5 -> 0.10.0, Euclid-core 0.4.13 -> 0.7.0
• Kryo -> ROS2 / DDS
• ihmc-graphics-description, ihmc-javafx-toolkit, ihmc-jmonkey-engine-tollkit, ihmc-swing-plotting, ihmc-geometry, ihmc-robot-description, ihmc-messager, simulation-construction-set have all been extracted to standalone libraries.
• mecano: new standalone library for rigid-body dynamics
• ihmc-commons: exception handling, mutation testing, allocation free data structures, allocation testing
• ihmc-build: bug fixes, usability improvements, publishing flexibility, decoupled from CI plugin

Test Results

3,025 tests in total
22 test failed
26 tests were skipped
259 minutes taken in total.

Atlas Hardware Test

November 30, 2018 (201811_Stable)

This is the first tag with SM Atlas running with a lower pressure of 2300 PSI. Only one log got saved probably because of heavy logging traffic in folder Atlas/SM Atlas/20181130_161353_AtlasControllerFactory_201811_Stable.

• Skipped sand bed test.
• One mystery fall during flat ground walking. Unfortunately no log of that run. Robot looked good overall.
• Hand homing in the UI works only when a single hand is selected. The UI seems to get flaky with threading issues in general.
• Power supply gave out one with oscillating voltage on the output. E-stopped quickly and powercycled everything.
• Stepping in place (and walking in general) is slightly unsymmetrical.

0.11 Release Notes

This release features mostly improvements in the planning behaviors.

Unit Test Results

Global build number: 4570
https://bamboo.ihmc.us/browse/LIBS-IHMCOPENROBOTICSSOFTWAREFAST-400

3,046 tests in total
1 test failed
20 tests were skipped
311 minutes taken in total.

Failing test: VisibilityGraphsFrameworkTest.testDatasetsWithoutOcclusion

Atlas Hardware Test

Log video: https://youtu.be/rq6zIrvAts4

*** NOTE: The user interface referred to is proprietary software. Please contact IHMC for a license.

• Robot starts correctly and arm, chest, and head move to their default configurations.
• LIDAR works in the user interface.
• REA works and planar regions show up in the user interface.
• Flat ground walking works well consistently without shaking.
  • Turn in place
  • Walk forwards
  • Walk backwards
  • Walk sideways
• Chest and head motions can be commanded from the user interface.
• Arm motions can be commanded from the user interface and arm home options in the interface work as expected.
• Hands not working
• Pelvis motions can be commanded from the user interfaces and the center of mass height slider works.
• Foot motions in the air can be commanded from the user interface.
  • ~1.5 Hz oscillation during single support
• The robot can run through the final tab motions: Running Man, Karate Kid 1, and Karate Kid 2 repeatedly without falling.
  • Falls over when changing too quickly
• The robot can reach an object on the ground using the whole body IK from the user interface (F9).
• When the robot executes a step, the footstep reaches the position specified in the user interface without offset.
• The robot can walk over the sand test bed.
• The robot can walk over simple cinders using the planar regions module with a rough terrain footstep planner.
• The robot can walk over slanted cinders when operated by a human.

Valkyrie Hardware Test

The Valkyrie hardware platform is not supported in this release.

SRC Finals

This release marks the version used in the NASA Space Robotics Challenge Finals.

0.9.0

This release marks a semi-long-term-support release of the current controller behavior and API.

Starting with this release, we will create a support branch for tracking development and bugs against this version of the controller and API. The develop branch will be for development of the next major version of the comms/API/controller architecture.