v3.1

Changes

• Improve how to get autopilot info in backend MAVROS
• Add simulated laser scanner to component snippets
• Add PID and PosePID libraries
• Add reference pose publisher
• Fix some Ardupilot issues in backend MAVROS
• Update configure.py to autoinstall some dependencies
• Support newest PX4 SITL versions from v1.10.0
• Stop supporting PX4 SITL versions prior to v1.10.0
• Tested in Ubuntu 18.04 and ROS Melodic

v3.0

Changes

• Modify UAL constructor to remove dependencies, now backends are in individual ROS packages which depend on uav_abstraction_layer
• Add new backend: DJI ROS
• Add new backend: Crazyflie
• Add new backend: Unreal Engine
• Add new backend: MAVLink
• Add Ardupilot support in backend MAVROS
• Fix compiling errors of backend Gazebo light in Ubuntu 18.04
• Remove mavros.err file for stderr of mavros node

v2.3

Changes

• Change frame names to ROS standard using namespaces
• Validate orientation in UAL
• Fix #52: adapt to changes in mavros v0.29.0
• Fix #51
• Improve joy_teleop
• Add parameter to remap rtcm corrections in mavros
• New tool: key_teleop
• Update state at backend light
• Fix #55: Implement new TF system in light backend
• Fix #56: Resolve light simulation shakiness
• Move rotors in light simulator
• Pass robot id to xacro description
• Fix #45: Takeoff aborts running actions in backend
• Add MAV_SYSTEM_ID param to simulated platforms
• Fix #58. UAL checks input data looking for NaN
• Add the option of specifying frame_id at spawn
• Improve use of tf
• Get position and orientation thresholds from param
• Fix #62: Set final pose only if not aboted
• Update geographic_to_cartesian.h
• Tested PX4 up to v1.9.2

v2.2

Changes

• Fix timestamp problem in ual/pose
• Expose ual state and fix backend state transition at initialization
• Make ual state message lighter and add monitor script
• NEW: save/track waypoints scripts in uav_abstraction_layer package
• Add a set_z parameter to set home function (#46)
• Improve go to waypoint function, now is smoother
• Expand ual interface with setPose function
• Get and update mavros params for take off and position control
• Use open-loop sigmoid reference for take off
• Add a script to auto generate joystick yaml files for teleoperation

v2.1

Changes

• Increase default rates and put rates as parameters (#31)
• Standardize namespacing (#37)
• Remove params file and put params in launch (#35)
• Set pose and set velocity through topics (#33)
• New odometry topic (#34)
• Fix gazebo problem with node names in last upgrade of gazebo_ros
• Change ready condition in backend_mavros constructor (#17)
• Allow set velocity interface to work in any coordinate frame
• Change how we kill gazebo, fix zombie behaviour
• Assure id uniqueness using a global parameter in parameter server
• New mode in run_mavros.py (#42)
• Wait for gazebo to be ready before spawning (#41)
• Improve ual_teleop functionalities
• Implement new takeoff protocol (and add safety pilot simulation)
• Add support for rc simulation with joystick
• Move state to backend and adapt it to new take off safety protocol
• New capability: detect the transform to a global map based on GPS coordinates
• Make HistoryBuffer more memory-friendly, as order does not matter
• Update and simplify ual teleoperation

v2.0: Merge pull request #28 from grvcTeam/ual2.0

Changes

• Adapt to PX4 Firmware v1.7.3
• Remove dependency of grvc-utils
• Fix gazebo launch errors
• Add a package for ual teleoperation
• Make setHome function independent in backend_mavros
• Make reference pose reached function more demanding
• Force backend to always spin
• Added Doxygen doc generation files
• Add alternative constructors to UAL
• Remove static_tf_publisher package

v1.7

Changes

• Fix orientation in backend_light
• New dummy backend for testing
• Fix and improve aeroarms model
• Add new model aeroarms_pendulum
• Expose UAL state (#9)
• Add argument to expand gazebo model path
• Force UAL state when calling recover from manual
• Force land to override any previous flying function
• Add set home function to UAL
• Prepare test_server.launch for other px4 modes
• Reduce queue size for mavros topics
• Fix orientation bug in example test
• Force disarm after land, as it failed in real uavs

v1.6

Changes

• Added architecture for commanding UAV with global coordinates (#20)
• Compatibility with Mavros versions greater than 0.20.0 (Fix #19)
• Upgrade aeroarms model
• PX4 Firmware compatible version: v1.6.3

v1.5

Changes

• Fix gimbal namespace in typhoon_h480 model
• Fix gimbal with multiple typhoon_h480
• Add freeze option to abort function
• Move pid controller to grvc-utils
• Use multi-threaded spinner to fix blocking calls

v1.4

Changes

• Autodetect sdf/xacro description file type
• Add recover from manual feature
• Add noise to pose in backend_light
• Add pid controller class, decouple x and y control
• Fix initial positions bug
• Change config files