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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[2.0.0] - 2021-11-16

Added

  • Allow selection of different vehicle model parameter configurations
  • Create a GUI button to reset simulation environment
  • Add ground truth and noisy wheel speeds topics
  • Support both velocity and acceleration commands
  • Implement steering rate limit
  • Add control delays

Changed

  • Migrate from ROS 1 to ROS 2 Galactic
  • Reduce simulator visual complexity
  • Extract vehicle model as a C++ library
  • Split the launcher and track generator
  • Migrate non-track launch files to python
  • Scale cone noise with distance from car
  • Improve directory structure
  • Improve documentation
  • Get ROS message times directly from Gazebo

Deprecated

  • Disable launcher and track generator noise sliders

Removed

  • VLP-16 sensor URDF and meshes
  • GPS with mast sensor URDF and meshes
  • Hokuyo UTM-30LX sensor URDF and meshes
  • IMU Hector Plugin sensor URDF and meshes
  • Kinect sensor URDF and meshes
  • Kinect v2 sensor URDF and meshes
  • Point Grey Bumblebee 2 sensor URDF and meshes
  • Wheelchair robot URDF and meshes

Fixed

  • Fix missing package dependencies
  • Fix linting errors
  • Once in emergency state, only legal option should be reset
  • Remove ghost cones in RViz
  • Stop listening to driving flag for AS transition
  • AMI state should indicate manual driving
  • EBS not activated properly when triggered from AS_READY
  • Robot steering GUI is not reactive to the command mode of vehicle model
  • Remove noise from /ground_truth/state
  • Catch InvalidTopicError in robot steering GUI when topics end in "/"

[1.0.0] - 2020-09-01

Added

  • EUFS Launcher which is a GUI that allows you to customise the launching of the simulation
  • State machine according to the Formula Student rules
  • Mission selector and steering RQT GUI
  • Race car model plugin to make the car behave according to the dynamic bicycle vehicle model
  • Cone ground truth plugin to publish cone locations and simulate perception
  • Includes plugins for various sensors including IMU, GPS, VLP LiDAR, and ZED camera
  • Preset track layouts including tracks for acceleration and skidpad
  • Random track generator