CHANGELOG

Changelog for package legged_controllers

2.7.3 (2025-07-27)

2.7.2 (2025-07-21)

  • Update CHANGELOG.rst

  • Contributors: qiayuanl

  • Update CHANGELOG.rst

  • Contributors: qiayuanl

2.7.1 (2025-07-11)

2.7.0 (2025-06-17)

  • Merge branch ‘master’ into feature/async # Conflicts: # legged_rl_controllers/src/RlController.cpp

  • Merge branch ‘master’ into feature/async

  • Merge branch ‘master’ into feature/async

  • Contributors: qiayuanl

2.6.0 (2025-06-17)

2.5.0 (2025-06-15)

  • Merge pull request #7 from qiayuanl/feature/onnx_metadata Read metadata from onnx files instead of ros parameters

  • Read metadata from onnx files instead of ros parameters

  • Contributors: Qiayuan Liao, qiayuanl

2.4.0 (2025-06-14)

2.3.1 (2025-06-02)

  • Merge pull request #5 from qiayuanl/fix/estimation_position_default Fix the behavior when estimation.position.topic and estimation.positi…

  • Fix the behavior when estimation.position.topic and estimation.position.frame_id is empty

  • Contributors: Qiayuan Liao, qiayuanl

2.3.0 (2025-05-31)

2.2.0 (2025-05-26)

  • Merge pull request #4 from qiayuanl/feature/joint_state Remove joint_state_broadcaster

  • Remove joint_state_broadcaster

  • Contributors: Qiayuan Liao, qiayuanl

2.1.1 (2025-05-01)

  • Merge pull request #3 from qiayuanl/feature/lio_fuse Feature/lio fuse

  • Merge branch ‘refs/heads/master’ into feature/lio_fuse

  • Force worldToMap_ to be only rotated along z axis in StateEstimator

  • Contributors: Qiayuan Liao, qiayuanl

2.1.0 (2025-04-28)

  • Merge pull request #2 from qiayuanl/feature/lio_fuse Feature/lio fuse

  • Merge pull request #1 from qiayuanl/fix/estimator Fix/estimator

  • Move TF publication to StateEstimation and add odom_lio frame

  • Add low pass filter for world-to-map in StateEstimator

  • Map LIO information in world frame instead of overwriting everything to map frame

  • Move the position sensor topic from LinearKalmanFilterRos2 to StateEstimator.

  • Support position sensor from any frame on the robot

  • Remove MoCap and call updatePositionMeasurement() in LinearKalmanFilterRos2

  • Separate LinearKalmanFilter::update() to LinearKalmanFilter::updateImuProcess() and LinearKalmanFilter::updateContactsMeasurement()

  • Separate chainable controllers from legged_controllers

  • Correct joint order of StandbyController

  • Adjust the RlController for new ControllerBase

  • Change StateEstimator to ChainableController, so that all other controllers share the same state estimator. legged_controllers work, but legged_rl_controller still not.

  • Add configuration for contact probabilities of LinearKalmanFilter

  • Add acceleration bias estimation

  • Override the xHat correctly in MoCap

  • Add ZMP visualization for LinearKalmanFilterVisualization

  • Add LinearKalmanFilter::updateContactProbabilities, use force threshold and ZMP to determine the probability

  • Correct LinearKalmanFilterVisualization

  • Add LinearKalmanFilter::reset

  • Add LinearKalmanFilter::getImuProcessNoiseCovariance

  • Remove foot velocity measurement from LinearKalmanFilter

  • Add visualization for LinearKalmanFilterRos2

  • Add visualization_helpers

  • Contributors: Qiayuan Liao, qiayuanl

2.0.0 (2025-04-08)

1.4.0 (2025-04-02)

1.3.1 (2025-04-01)

1.3.0 (2025-03-29)

1.2.1 (2025-03-29)

  • Add and run pre-commit

  • Contributors: qiayuanl

1.2.0 (2025-03-28)

1.1.0 (2025-03-26)

  • Update Mocap code

  • Add gm_observer.cut_off_frequency and gm_observer.force_threshold configuration

  • Update OnnxController with Manger

  • Minor change for formate

  • Remove the client for getting robot_description

  • Correct phase cycle

  • Add phase observation

  • Move exec_depend from unitree_description to legged_controllers

  • Use new hardware interface

  • Get robot_description from robot_state_publisher

  • Add TopicController

  • Add default_position and kp, kd parameters interface

  • Add StandbyController

  • Fix some minor problems

  • Call StateEstimator::on_deactivate at the beginning of ControllerBase::on_deactivate

  • Fix a minor problem in Mocap

  • Add Mocap

  • Add param interface for LinearKalmanFilter

  • Add param interface for LeggedModelRos2

  • Add ControllerBase::on_deactivate

  • Replace all ZYX with quaternion

  • Fix a silly bug cause by copilot

  • Fix minor problem in LeggedModel

  • Add legged_rl_controllers

  • Set frame names in StateEstimator manually

  • Correct some return value in ControllerBase

  • Add ControllerBase

  • Add baseFrameIndex to contactIndices in GmObserverRos2

  • Add unlock after setup message in realtime publisher

  • Correct “Remove imu inside LeggedModelRos2”

  • Remove imu inside LeggedModelRos2

  • Add LinearKalmanFilterRos2

  • Add LeggedModel::getFrameName

  • Add GmObserverRos2

  • Add GmObserverRos2

  • Minor change

  • Add legged_controllers

  • Contributors: qiayuanl