Skip to content

Fawkes 1.0.0
Compare
Choose a tag to compare
@timn timn released this 12 Feb 11:10
· 4636 commits to master since this release
1.0.0
761b2d5
  • Switched from SQL to YAML-based configuration files
  • Support running multiple instances on a single host
  • Port ROS Behavior Engine features to Fawkes
  • Topological map graph for motion planning and
    location-specific data (navgraph)
  • YAML-based navgraph description, interactive modification,
    extensive visualization support through rviz
  • Constraint framework for navgraph and CLIPS access
  • Automated navgraph generation from map and points of interest
  • CLIPS-based agent plugin, navgraph, communication access,
    and web introspection and instruction, many improvements
  • Process information logging through RRD
  • MongoDB integration and high-throughput logging
  • Pointcloud database storage and multi-perspective merging
  • Gazebo simulation integration: general access, time source,
    hardware simulation plugins
  • Port of "colli" local path planner with collision avoidance
  • Port and integration of tf2 coordinate transforms library
  • Protobuf-based multi-robot communication infrastructure
  • Adaptation to modern compilers (GCC5, GCC6, clang)
  • Support for Bumblebee2 stereo camera
  • Drop own geometry library in favor of external ones like Eigen3
  • Object tracking and cylinder fitting in tabletop perception
  • Use libelf for meta data reading instead of plugin pre-loading.
    This vastly improves load times and fixes some issues.
  • Improve timestamp handling in laser-filter, add map filtering
  • Vision improvements like several new color models
  • KDL parser library integration (port from ROS)
  • Better debugging through thread names in gdb
  • Support for the Sick TiM 55x and 57x laser range finders
  • Support for Asus Xtion RGBD sensor
  • Support for Cruizcore IMU
  • Laser-based cluster detection plugin and automated
    navgraph reservation or cost increasing
  • Support for IPv6 networking (fawkes net and webview)
  • Laser-based line detection and filtering
  • Support for Robotino 3 through direct USB communication with
    the platform's microcontroller for faster data access
  • Behavior Engine Lua 5.2 support, internal all-Lua implementation,
    drop one-shot execution, direct ROS integration through roslua,
    blackboard interface declaration in skill only (not config),
    access to the tf sub-system, many improvements also in skill
    syntax and features
  • Support for OpenPRS reasoning engine, agent framework
  • AMCL improvements, console initialization tool
  • CMake modules for using Fawkes in 3rd party apps
  • Support for arbitrary Dynamixel servo chains
  • Integration with the Eclipse-CLP logic programming environment
  • Improved ROS integration: support up to Kinetic, two-way
    navigation integration, clock export, two-way pointcloud access,
    joint and robot state publisher
  • Support for Kinova Jaco arm through libkindrv library
  • Blackboard interface data structure packing changed
  • New joystick-teleop plugin for generic remote control with
    basic collision avoidance and safety lockout
  • Plugin generator tool to create new plugins
  • Bash completion support
  • Various bug fixes and improvements

At 33C3.

Assets 2
Loading