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blog:cram_v0.3 [2017/03/16 15:22] (current)
gkazhoya created
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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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