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| — | blog:cram_v0.3 [2017/03/16 14:22] (current) – created gkazhoya |
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| | ====== CRAM v0.3.0 ====== |
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| | A new version of CRAM is out! |
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| | Here is what's new since v0.2.0: |
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| | * In [[https://github.com/cram2/cram_core/blob/master/CHANGELOG.md|cram_core]], we've got 2 new features together with small nicifications and fixes, no API breakage. Now we have motion designators, which are a new class of designators used to interface with process modules, calling PERFORM on them results in calls to process modules. PERFORMing action designators, on the other hand, now calls other plans. Check out the [[http://cram-system.org/tutorials/intermediate/performing_plans|tutorial for this new feature]]. |
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| | * In [[https://github.com/cram2/cram_3rdparty/blob/master/CHANGELOG.md|cram_3rdparty]], ''yason'' has been updated to a newer version with no API breakage |
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| | * [[https://github.com/cram2/cram_common/blob/master/CHANGELOG.md|cram_plans]] got renamed into ''cram_common'', which seems to be a much more fitting name for the repo. Also, ''cram_transforms_stamped'' got renamed into ''cram_tf'', which is shorter. No API breakage except the renamings. There have been important bugfixes in the location costmap functionality, better initialization of ''cram_tf'' variables, some new utility functions in ''cram_tf'' and ''cram_robot_interfaces'' and a new package ''cram_commander'' to execute CRAM actions over ROS. |
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| | * [[https://github.com/cram2/cram_json_prolog/blob/master/CHANGELOG.md|cram_json_prolog]] got a minor cleanup. |
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| | * [[https://github.com/cram2/cram_knowrob/blob/master/CHANGELOG.md|cram_semantic_maps]] got renamed into ''cram_knowrob'' and there were some bugfixes and updates to support newer KnowRob APIs and the new semantic map of the kitchen. |
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| | * [[https://github.com/cram2/cram_3d_world/blob/master/CHANGELOG.md|cram_3d_world]] got rid of some unused dependencies, moveit-specific things were moved away into the ''cram_pr2'' repo, household objects were renamed into items to support other domains than human household, new utility functions, nicifications etc. |
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| | * in [[https://github.com/cram2/cram_pr2/blob/master/CHANGELOG.md|cram_pr2]] there have been lots of changes: process module bugfixes, a new cram_motion_manager package to support different motion planners, reachability costmap now supports moveit IK interface, there are new low-level interfaces, designators and plans also available for PR2, etc. |
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| | * the [[https://github.com/cram2/cram_projection_demos/blob/master/CHANGELOG.md|rosinstall]] file for CRAM has been updated to use the newest version. |
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| | All the main CRAM repositories now contain a **''CHANGELOG.md''** file! |
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| | On the aforementioned repositories, there have been **39 PRs merged**, **15 issues solved**, and there are currently no PRs or issues open! |
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| | Bug reports and requests for new features are as always most welcome. |
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