CHANGELOG

Changelog for package legged_rl_controllers

2.7.3 (2025-07-27)

2.7.2 (2025-07-21)

  • Update CHANGELOG.rst

  • Refactor action scale handling to support vector_t type

  • Contributors: qiayuanl

  • Update CHANGELOG.rst

  • Refactor action scale handling to support vector_t type

  • Contributors: qiayuanl

  • Refactor action scale handling to support vector_t type

  • Contributors: qiayuanl

2.7.1 (2025-07-11)

  • Add verbose for getMetadataVector

  • Contributors: qiayuanl

2.7.0 (2025-06-17)

  • Merge pull request #8 from qiayuanl/feature/async Feature/async

  • 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

  • Add async parameter

  • Add parallel policy inference

  • Contributors: Qiayuan Liao, qiayuanl

2.6.0 (2025-06-17)

  • Add Policy::init()

  • Add more printing for the metadata of OnnxPolicy

  • Contributors: qiayuanl

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)

  • Merge pull request #6 from qiayuanl/feature/mimo_onnx Refactor Policy and OnnxPolicy to support multi-input multi-output

  • Refactor Policy and OnnxPolicy to support multi-input multi-output

  • Contributors: Qiayuan Liao, qiayuanl

2.3.1 (2025-06-02)

2.3.0 (2025-05-31)

  • Update onnxruntime to v1.20.0

  • Contributors: qiayuanl

2.2.0 (2025-05-26)

2.1.1 (2025-05-01)

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

  • Contributors: qiayuanl

2.1.0 (2025-04-28)

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

  • Correct the JointPositionsObservationTerm in new default position defination

  • Adjust the RlController for new ControllerBase

  • Adjust the RlController for new ControllerBase

  • Correct the usage of linear velocity state estimation result!

  • Contributors: Qiayuan Liao, qiayuanl

2.0.0 (2025-04-08)

  • Minor changes for comments of OnnxPolicy

  • Minor changes for LastActionObservationTerm and constructor of OnnxPolicy

  • Contributors: qiayuanl

1.4.0 (2025-04-02)

  • Merge branch ‘feature/seprate_onnx_controller’

  • Add Policy and OnnxController

  • Rename OnnxController to RlController

  • Contributors: qiayuanl

1.3.1 (2025-04-01)

  • Add history_by_terms for OnnxController

  • Contributors: qiayuanl

1.3.0 (2025-03-29)

  • Add observation history support

  • Contributors: qiayuanl

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)

  • Add some info for the command and observation size

  • Add missing header

  • Add virtual for parserObservation and parserCommand

  • Correct BaseAngVelObservationTerm

  • Update OnnxController with Manger

  • Add ManagerBased, CommandManager, ObservationManager

  • Add OnnxPolicy

  • Add phase_hold

  • Check if jointNameInPolicy_ in jointIndexMap_

  • Minor change for formate

  • Add virtual for OnnxController

  • Correct phase cycle

  • Add phase observation

  • Remove config and launch of legged_rl_controllers

  • Replace onnxruntime with onnxruntime_ament

  • Add position_delta action type

  • Add action_type from parameter

  • Read from observation from parameter

  • Use new hardware interface

  • Print shape of onnx policy for debugging

  • Add joint_names parameters interface

  • Add joint_names parameters interface

  • Add default_position and kp, kd parameters interface

  • Correct naming of controllers plugin

  • Add publisher for policy IO

  • Add StandbyController

  • Fix some minor problems

  • Add param interface for LinearKalmanFilter

  • Add param interface for LeggedModelRos2

  • Add teleop.launch.py

  • Replace all ZYX with quaternion

  • Add cmd_vel receiver

  • Fix a silly bug cause by copilot

  • Correct the policy update rule and observation

  • Add legged_rl_controllers

  • Contributors: qiayuanl