TRex v0.2

This version of TRex is capable of simulation hardware steps and checking for various test constrains. It offers:

• Dynamic addition of parts, including automatic spawning of child parts
• Dynamic texture association for parts which have a QR code
• Multiple implementations of the interface between HAL and ROS
• Integration of product step testing in HAL
• Dynamic retrieval of parts for testing of product steps
• Dynamic adding of various test constrains
• Dynamic retrieval of test constrains for models

The supported test constrains are:

• Checking for contacts between collisions and, if so, checking whether or not the force and torque are within specifications specified for that collision.
• Checkong whether or not the acceleration exposed on a link is within specifications specified for that link
• Checkong whether or not the error pose of a joint is within specifications specified for that joint

TRex v0.1

This version of TRex is capable of simulation hardware steps. It offers:

• Dynamic addition of modules and equiplets
• Multiple equiplets in the same world
• Simulating motors on an interface level, supporting 3 phase and 2 phase motor control
• Simulating contact sensors on an interface level, by measuring the angle of a joint
• Simulating grippers on an interface level, by dynamically adding joints to grasped objects
• Dynamically switching between simulated equiplets and non simulated equiplets
• Easy startup using an interactive lauch script
• Preliminary support for shadow equiplets

DEV 5.1.0.0

• 6D Merge
• EMUREX Merge
• EMUREX intergration
• reloadEquiplet functionality
• ReconfigFactory (Module- and CapabilityFactory)
• Rewrite:
  • Product step
  • Settings
  • Module (ROS)
  • Gripper
• ROS Knowledge Database connection
• Dummy Modules
• Six Axis support + Demo
• Move Demo Fixes
• Keyboard control node fix
• Catkin Make & ANT Fixes
• JUnit & CPPunit integration and test runners added
• Various bugfixes

REXOS 5.0

End of phase 2 of REXOS 5.

System is able to perform demonstrations and is considered to be "stable".