iirob · destogl · May 17, 2017 · Jul 18, 2017 · Jul 18, 2017 · Jul 24, 2017
diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic
diff --git a/cob_base_drive_chain/CHANGELOG.rst b/cob_base_drive_chain/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package cob_base_drive_chain
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
+0.6.12 (2018-07-21)
+-------------------
+
+0.6.11 (2018-01-07)
+-------------------
+* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
+* Merge pull request `#341 <https://github.com/ipa320/cob_driver/issues/341>`_ from ipa-fxm/APACHE_license
+  use license apache 2.0
+* use license apache 2.0
+* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk
+
+0.6.10 (2017-07-24)
+-------------------
+
+0.6.9 (2017-07-18)
+------------------
+* Fix/diagnostic rate (`#329 <https://github.com/ipa320/cob_driver/issues/329>`_)
+  * Turned down global diagnostic rate to 1Hz
+  * Fixed comments
+  * Intermediate
+  * Fixed
+* manually fix changelog
+* Contributors: ipa-fxm, mig-em
+
 0.6.8 (2016-10-10)
 ------------------
 * introduced param to set homing velocity

diff --git a/cob_base_drive_chain/package.xml b/cob_base_drive_chain/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_base_drive_chain</name>
-  <version>0.6.8</version>
+  <version>0.6.13</version>
   <description>This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information.</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_bms_driver/CHANGELOG.rst b/cob_bms_driver/CHANGELOG.rst
@@ -2,6 +2,78 @@
 Changelog for package cob_bms_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+* Merge pull request `#381 <https://github.com/ipa320/cob_driver/issues/381>`_ from pholthau/boost-format
+  include boost/format.hpp
+* include boost/format.hpp
+* Contributors: Felix Messmer, Patrick Holthaus
+
+0.6.12 (2018-07-21)
+-------------------
+* update maintainer
+* Merge pull request `#374 <https://github.com/ipa320/cob_driver/issues/374>`_ from floweisshardt/feature/round_remaining_capacity
+  round remaining_capacity
+* adjust to real driver precision
+* round remaining_capacity
+* Contributors: Felix Messmer, fmessmer, ipa-fmw, ipa-fxm
+
+0.6.11 (2018-01-07)
+-------------------
+* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
+* Merge pull request `#364 <https://github.com/ipa320/cob_driver/issues/364>`_ from ipa-fxm/fake_bms_diagnostics
+  use diagnostic updater in fake_bms
+* use diagnostic updater in fake_bms
+* Merge pull request `#361 <https://github.com/ipa320/cob_driver/issues/361>`_ from ipa-fxm/set_relative_remaining_capacity
+  set relative remaining capacity
+* set relative remaining capacity
+* Merge pull request `#341 <https://github.com/ipa320/cob_driver/issues/341>`_ from ipa-fxm/APACHE_license
+  use license apache 2.0
+* change maintainer
+* use license apache 2.0
+* Contributors: Felix Messmer, Florian Weisshardt, ipa-fxm, ipa-uhr-mk
+
+0.6.10 (2017-07-24)
+-------------------
+
+0.6.9 (2017-07-18)
+------------------
+* minor change for handling exception
+* made changes which only sets the current that in turn is used by power_aggregator for relative_remaining_capacity calculation
+* fix typo
+* added emulation of realistic current value
+* minor change for publishing a realistic voltage value
+* Merge pull request `#310 <https://github.com/ipa320/cob_driver/issues/310>`_ from souravran/feature/fake_bms
+  added a fake bms with set_charging and set_relative_remaining_capacity services
+* finalize exception handling
+* fake current
+* consistent naming
+* publish diagnostics in fake_bms
+* harmonize namespaces of fake_bms
+* uses the default parameter value
+* poll frequency has been set from the parameter list
+* made changes as per the review.
+  power state elements being published at 20 Hz.
+  removed junk rospy log and changed division_by_zero error message.
+* fake_bms publishing all power_state entities.
+  added exception handling in power_state_aggregator.
+  added package dependency and install tags.
+* added a fake bms with set_charging and set_relative_remaining_capacity services
+* fix typo
+* fix powerstate aggregator charging flag (bms is not delivering correct flag for full battery and docked)
+* use bms flag for harging
+* fix identation
+* use spaces for indention in BMS driver
+* updated authors
+* added support for bit_mask'ed booleans
+* make BmsParameter an abstract base class
+* BMS driver clean-up
+* switch from map of vectors to multimap in BMS driver
+* simplified BMS publisher creation and polling list optimization
+* simplified BMS config parsing
+* manually fix changelog
+* Contributors: Felix Messmer, Florian Weisshardt, Mathias Lüdtke, Nadia Hammoudeh García, fmw-ss, ipa-fxm, robot
+
 0.6.8 (2016-10-10)
 ------------------
 * restart CAN on failure

diff --git a/cob_bms_driver/package.xml b/cob_bms_driver/package.xml
@@ -1,11 +1,12 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cob_bms_driver</name>
-  <version>0.6.8</version>
+  <version>0.6.13</version>
   <description>
     Driver package for interfacing the battery management system (BMS) on Care-O-bot.
   </description>
 
+  <maintainer email="[email protected]">Felix Messmer</maintainer>
   <maintainer email="[email protected]">Florian Weisshardt</maintainer>
   <author email="[email protected]">mig-mc</author>
   <author email="[email protected]">Mathias Lüdtke</author>

diff --git a/cob_bms_driver/src/cob_bms_driver_node.cpp b/cob_bms_driver/src/cob_bms_driver_node.cpp
@@ -21,6 +21,7 @@
 
 #include <stdint.h>
 #include <endian.h>
+#include <boost/format.hpp>
 
 #include <cob_bms_driver/cob_bms_driver_node.h>
 

diff --git a/cob_bms_driver/src/fake_bms.py b/cob_bms_driver/src/fake_bms.py
@@ -20,52 +20,56 @@
 from std_msgs.msg import Float64
 from cob_srvs.srv import SetFloat, SetFloatResponse
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
+from diagnostic_updater import Updater
 
 class FakeBMS(object):
     def __init__(self):
         self.srv_current              = rospy.Service('~set_current', SetFloat, self.current_cb)
-        self.srv_remaining_capacity   = rospy.Service('~set_remaining_capacity', SetFloat, self.remaining_capacity_cb)
+        self.srv_relative_remaining_capacity   = rospy.Service('~set_relative_remaining_capacity', SetFloat, self.relative_remaining_capacity_cb)
         self.poll_frequency           = rospy.get_param('~poll_frequency_hz', 20.0)
         self.pub_voltage              = rospy.Publisher('~voltage', Float64, queue_size = 1)
         self.pub_current              = rospy.Publisher('~current', Float64, queue_size = 1)
         self.pub_remaining_capacity   = rospy.Publisher('~remaining_capacity', Float64, queue_size = 1)
         self.pub_full_charge_capacity = rospy.Publisher('~full_charge_capacity', Float64, queue_size = 1)
         self.pub_temparature          = rospy.Publisher('~temperature', Float64, queue_size = 1)
-        self.pub_diagnostics          = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
 
-        self.voltage              = 0.0
+        self.updater = Updater()
+        self.updater.setHardwareID("bms")
+        self.updater.add("cob_bms_dagnostics_updater", self.produce_diagnostics)
+
+        self.voltage              = 48.0
         self.current              = -8.0
         self.remaining_capacity   = 35.0
         self.full_charge_capacity = 35.0 # Ah
-        self.temperature          = 0.0
+        self.temperature          = 25.0
 
         rospy.Timer(rospy.Duration(1.0), self.publish_diagnostics)
         rospy.Timer(rospy.Duration(1.0/self.poll_frequency), self.timer_cb)
         rospy.Timer(rospy.Duration(1.0/self.poll_frequency), self.timer_consume_power_cb)
 
     def current_cb(self, req):
-        self.current = req.data
-        res_current = SetFloatResponse(True, "Set current to {}".format(req.data))
+        self.current = round(req.data,2)
+        res_current = SetFloatResponse(True, "Set current to {}".format(self.current))
         return res_current
 
-    def remaining_capacity_cb(self, req):
-        self.remaining_capacity = req.data
-        res_capacity = SetFloatResponse(True, "Set remaining capacity to {}".format(req.data))
+    def relative_remaining_capacity_cb(self, req):
+        self.remaining_capacity = round(((req.data * self.full_charge_capacity)/100.0), 3)
+        res_capacity = SetFloatResponse(True, "Set relative remaining capacity to {}".format(self.remaining_capacity))
         return res_capacity
 
     def publish_diagnostics(self, event):
-        msg = DiagnosticArray()
-        msg.header.stamp = rospy.get_rostime()
-        status = DiagnosticStatus()
-        status.name = rospy.get_name()
-        status.level = DiagnosticStatus.OK
-        status.message = "fake diagnostics"
-        status.hardware_id = rospy.get_name()
-        msg.status.append(status)
-        self.pub_diagnostics.publish(msg)
+        self.updater.update()
+
+    def produce_diagnostics(self, stat):
+        stat.summary(DiagnosticStatus.OK, "Fake Driver: Ready")
+        stat.add("current[A]", self.current)
+        stat.add("voltage[V]", self.voltage)
+        stat.add("temperature[Celsius]", self.temperature)
+        stat.add("remaining_capacity[Ah]", self.remaining_capacity)
+        stat.add("full_charge_capacity[Ah]", self.full_charge_capacity)
+        return stat
 
     def timer_cb(self, event):
-        self.voltage = 48.0
         self.pub_voltage.publish(self.voltage)
         self.pub_current.publish(self.current)
         self.pub_remaining_capacity.publish(self.remaining_capacity)
@@ -74,11 +78,12 @@ def timer_cb(self, event):
 
     def timer_consume_power_cb(self, event):
         # emulate the battery usage based on the current values
-        self.remaining_capacity += (self.current/self.poll_frequency)/3600   
-        if self.remaining_capacity <= 0:
-            self.remaining_capacity = 0
+        self.remaining_capacity += (self.current/self.poll_frequency)/3600.0
+        self.remaining_capacity = round(self.remaining_capacity,3)
+        if self.remaining_capacity <= 0.0:
+            self.remaining_capacity = 0.0
         if self.remaining_capacity >= self.full_charge_capacity:
-            self.remaining_capacity = self.full_charge_capacity
+            self.remaining_capacity = round(self.full_charge_capacity,3)
 
 if __name__ == '__main__':
   rospy.init_node('fake_bms')

diff --git a/cob_camera_sensors/CHANGELOG.rst b/cob_camera_sensors/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package cob_camera_sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
+0.6.12 (2018-07-21)
+-------------------
+
+0.6.11 (2018-01-07)
+-------------------
+* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
+* Merge pull request `#341 <https://github.com/ipa320/cob_driver/issues/341>`_ from ipa-fxm/APACHE_license
+  use license apache 2.0
+* use license apache 2.0
+* Merge branch 'indigo_dev' of github.com:ipa320/cob_driver into feature/mimic_sim
+* Merge pull request `#351 <https://github.com/ipa320/cob_driver/issues/351>`_ from mikaelarguedas/add_tinyxml_dependency
+  add tinyxml to package.xml
+* add tinyxml to package.xml
+* Merge pull request `#349 <https://github.com/ipa320/cob_driver/issues/349>`_ from ipa320/ipa-rmb-patch-1
+  Changed Maintainer
+* Changed Maintainer
+* Contributors: Benjamin Maidel, Felix Messmer, Mikael Arguedas, Richard Bormann, ipa-fxm, ipa-uhr-mk
+
+0.6.10 (2017-07-24)
+-------------------
+
+0.6.9 (2017-07-18)
+------------------
+* manually fix changelog
+* Contributors: ipa-fxm
+
 0.6.8 (2016-10-10)
 ------------------
 

diff --git a/cob_camera_sensors/package.xml b/cob_camera_sensors/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_camera_sensors</name>
-  <version>0.6.8</version>
+  <version>0.6.13</version>
   <description>For more information read the readme.htm file located in</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_canopen_motor/CHANGELOG.rst b/cob_canopen_motor/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package cob_canopen_motor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
+0.6.12 (2018-07-21)
+-------------------
+
+0.6.11 (2018-01-07)
+-------------------
+* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
+* Merge pull request `#341 <https://github.com/ipa320/cob_driver/issues/341>`_ from ipa-fxm/APACHE_license
+  use license apache 2.0
+* use license apache 2.0
+* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk
+
+0.6.10 (2017-07-24)
+-------------------
+
+0.6.9 (2017-07-18)
+------------------
+* manually fix changelog
+* Contributors: ipa-fxm
+
 0.6.8 (2016-10-10)
 ------------------
 

diff --git a/cob_canopen_motor/package.xml b/cob_canopen_motor/package.xml
@@ -1,6 +1,6 @@
 <package format="2">
   <name>cob_canopen_motor</name>
-  <version>0.6.8</version>
+  <version>0.6.13</version>
   <description>The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica".</description>
 
   <license>Apache 2.0</license>

diff --git a/cob_driver/CHANGELOG.rst b/cob_driver/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package cob_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.13 (2019-03-14)
+-------------------
+
+0.6.12 (2018-07-21)
+-------------------
+* update maintainer
+* Contributors: fmessmer
+
+0.6.11 (2018-01-07)
+-------------------
+* Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
+* Merge pull request `#353 <https://github.com/ipa320/cob_driver/issues/353>`_ from ipa-fxm/update_maintainer
+  update maintainer
+* update maintainer
+* Merge pull request `#341 <https://github.com/ipa320/cob_driver/issues/341>`_ from ipa-fxm/APACHE_license
+  use license apache 2.0
+* use license apache 2.0
+* Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk
+
+0.6.10 (2017-07-24)
+-------------------
+
+0.6.9 (2017-07-18)
+------------------
+* manually fix changelog
+* Contributors: ipa-fxm
+
 0.6.8 (2016-10-10)
 ------------------
 

diff --git a/cob_driver/package.xml b/cob_driver/package.xml
@@ -1,16 +1,15 @@
 <package format="2">
   <name>cob_driver</name>
-  <version>0.6.8</version>
+  <version>0.6.13</version>
   <description>The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc...</description>
 
   <license>Apache 2.0</license>
 
   <url type="website">http://ros.org/wiki/cob_driver</url>
   <!-- <url type="bugtracker"></url> -->
 
+  <maintainer email="[email protected]">Felix Messmer</maintainer>
   <maintainer email="[email protected]">Florian Weisshardt</maintainer>
-  <maintainer email="[email protected]">Nadia Hammoudeh Garcia</maintainer>
-  <author email="[email protected]">Florian Weisshardt</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
@@ -20,7 +19,6 @@
   <exec_depend>cob_canopen_motor</exec_depend>
   <exec_depend>cob_elmo_homing</exec_depend>
   <exec_depend>cob_generic_can</exec_depend>
-  <exec_depend>cob_head_axis</exec_depend>
   <exec_depend>cob_light</exec_depend>
   <exec_depend>cob_mimic</exec_depend>
   <exec_depend>cob_phidgets</exec_depend>