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.