0.6.0 (2021-04-19)

• Ports the driver to noetic. Includes moveing the trajectory planner to moveit * changes the references of the pilz_command_planner to the pilz_industrial_command_planner in moveit * fixes compatibility with ubuntu 20, noetic and colcon * changes CI to noetic and ubuntu 20
• Contributors: Pilz GmbH and Co. KG

0.5.21 (2020-11-23)

• Move OperationMode msg and GetOperationMode srv to pilz_msgs
• Contributors: Pilz GmbH and Co. KG

0.5.20 (2020-11-17)

• Fix catkin_lint errors (#459)
• Update acceptancetest_stop1.md (#447)
• Contributors: Pilz GmbH and Co. KG

0.5.19 (2020-09-07)

• Enhance safety interface launchfiles
• Use arguments of top-level launch file in modbus_client.launch
• Remove unncessary launch arg
• Contributors: Pilz GmbH and Co. KG

0.5.18 (2020-07-02)

• Make AsyncTest header-only
• Move modbus connection checker function in separate file
• Contributors: Pilz GmbH and Co. KG

0.5.17 (2020-06-22)

• Infinite modbus connection retries
• Improved modbus error messages
• New modbus api
• Refactor components to use Cartesian speed monitor functionality in controller
• Contributors: Pilz GmbH and Co. KG

0.5.16 (2020-05-15)

• Update and apply clang-format (#387)
• Make test-subfolder-names consistent (#380)
• Extend stop1 acceptance test (#378)
• Fix namespace in launch-file (#383)
• Contributors: Pilz GmbH and Co. KG

0.5.15 (2020-05-03)

• Add support for starting the robot without modbus
• sto for hw definition is now called safety_hw everywhere
• Moved system_info_node to prbt_support
• Adopted default configuration for launchfiles
• Renaming of STO into RUN_PERMITTED
• Enable starting ROS without modbus connection
• Contributors: Pilz GmbH and Co. KG

0.5.14 (2020-03-11)

• Trim firmware string.
• Rename waitForTopic() -> waitForMessage()
• Add Status Indicator that shows operation mode, speed override, HW status and ROS status
• Contributors: Pilz GmbH and Co. KG

0.5.13 (2019-12-04)

• Use brake-test definitions from pilz_msgs
• Contributors: Pilz GmbH and Co. KG

0.5.12 (2019-11-28)

• Remove srv definition for speed override (moved to the package pilz_msgs)
• Contributors: Pilz GmbH and Co. KG

0.5.11 (2019-11-22)

• Fix clang compiler errors (#283)
• Contributors: Pilz GmbH and Co. KG

0.5.10 (2019-10-08)

• Add missing dependency on tf2_geometry_msgs (#264)
• Minor fixes
• Contributors: Pilz GmbH and Co. KG

0.5.9 (2019-10-07)

• Add service for getting the global speed override
• Add modbus register for enabling temporary movement
• Add Frame speed monitoring
• Test fixes and improvements
• Contributors: Pilz GmbH and Co. KG
• Add speed observing dependent on operation mode
• Contributors: Pilz GmbH and Co. KG

0.5.8 (2019-09-10)

• add missing transition to RUN_PERMITTED state machine
• revise RUN_PERMITTED specification
• integrate clang-tidy via CMake flag
• Contributors: Pilz GmbH and Co. KG

0.5.7 (2019-08-29)

• Add state machine for RUN_PERMITTED handling to allow skipping of hold/unhold if needed
• add operation mode functionality
• add write capability to PilzModbusReadClient, rename PilzModbusReadClient -> PilzModbusClient
• enter hold mode at braketest execution
• automatically determine range for reading modbus registers
• only read modbus registers that are explicitly configured (not in a single block)
• separate api definitions for read and write
• brake test result can be sent to FS controller
• Contributors: Pilz GmbH and Co. KG

0.5.6 (2019-06-12)

• Essentially reverts wrong fix (depend on canopen_chain_node) from 0.5.5

0.5.5 (2019-06-12)

• Add missing depend (CATKIN_DEPENDS and <run_depend>) on canopen_chain_node

0.5.4 (2019-05-27)

• increased modbus response timeout to 20ms
• publish brake test requests obtained from safety controller via modbus
• run_permitted_modbus_adapter waits for the services to appear instead of throwing exceptions
• Add ability to execute a braketest on each drive.
• Add service to access the active operation mode
• Contributors: Pilz GmbH and Co. KG

0.5.3 (2019-04-24)

• cleanup CMakeLists of prbt_hardware_support
• update the documentation
• more precise error output when failing to read modbus register
• Contributors: Pilz GmbH and Co. KG

0.5.2 (2019-02-21)

• Update used pipeline in test from command_planner to pilz_command_planner
• Fix PilzModbusReadClient unittest
• Contributors: Pilz GmbH and Co. KG

0.5.1 (2018-11-30)

• melodic release based on kinetic version 0.4.3
• Contributors: Pilz GmbH and Co. KG

0.5.0 (2018-11-07)

0.4.3 (2018-11-30)

0.4.2 (2018-11-08)

• Fix missing include on std_srvs

0.4.1 (2018-11-07)

• Use Modbus API v2 due to wrongly specified version 1

0.4.0 (2018-11-06)

• Modbus client node and RUN_PERMITTED modbus adapter node for Stop 1 functionality