1.4.0

1.4.0 (2026-01-07)

• crtk_simple_orientation_registration.py: print result as 4x4 json
• Added simple orientation registration script for any device with measured_cp
• Fix wait_for_busy last busy time check
• bumped cmake minimum required to 3.16
• Update CRTK examples for latest API updates
• updated some examples
• utils.py: using time.time_ns to detect timeout on message passing, it doesn't make sense to use the ros time
• added create_time for RAL ROS1, commenented out some type hints for older python
• utils: all methods return tuples, added some type hints
• ral_ros2: added method to wrap executor.spin with try/except
• ROS1 ral modified so shutdown throws an exception (like ROS2)
• Using ral for duration
• Now raises TimeoutError if messages are too old

1.3.1

1.3.1 (2025-01-17)

• ROS2 ral spin uses SingleThreadedExecutor. MultiThreadedExecutor lead to strange bugs on Ubuntu 24.04 with ROS Jazzy

1.3.0

1.3.0 (2024-08-09)

• Updated code, package.xml and CMakeLists.txt so the same repository can be used for both ROS1 and ROS2

1.2.0

1.2.0 (2023-11-21)

• ⚠️ Use PoseStamped instead of TransformStamped for CRTK _cp commands (see collaborative-robotics/documentation#1)
• Documentation ported to ReadTheDocs: https://crtk-robotics.readthedocs.io
• Added crtk.ral (ROS Abstraction Layer) so Python scripts can be written for either ROS 1 or ROS 2
  • ral.check_connections allows you to check if there are subscribers/publishers connected to your publishers/subscriber
  • ral.spin starts the thread for ROS spin (no op on ROS 1)
  • ral.parse_argv parses and removed ROS specific arguments
  • ...
• utils.py:
  • Fixed bug in measured_cp, was returning setpoint_cp
  • Fixed wait on move handle
  • Add hold, free, forward_kinematics, inverse_kinematics, servo_cv
  • Added joystick_button to wrap foot pedals and other buttons