0.2.1 (Forthcoming)

• cl_transforms: bug fix in MATRIX->QUATERNION.

0.2.0

• actionlib_lisp: Added handlers for deadlock conditions

0.1.5

• actionlib_lisp:

  • Added SEND-GOAL-AND-WAIT method to improve consistency with C++ and Python versions.

  • Bugfix: Handling of no timeout was broken in WAIT-FOR-RESULT.

  • Added state transition callback to SEND-GOAL.

  • Added RESULT-TIMEOUT parameter to CALL-GOAL.

• cl_tf:

  • Added MSG->POSE function

  • Improved pretty-printers to also print frame-id and time stamp

  • Check for validity of frame id and throw a TF-LOOKUP-ERROR instead of TF-CONNECTIVITY-ERROR

  • Improved handling of non-qualified frame ids

• cl_transforms

  • Improved pretty-printers
  • Utility functions to create identity poses and transforms

  • Default data type is DOUBLE-FLOAT now. Automatically coerce numbers to it.

0.1.4 (2011-03-17)

• actionlib_lisp:

  • Fixed a problem with WITH-TIMEOUT in combination with deadlines

  • Fixed tickets #4805, #4806

  • Fixed a bug with usage of WITH-FILEDS: wrong symbols where used

0.1.3

• cl_transforms:

  • Added convenience functions

  • Fixed a bug that resulted in complex angles returned by quaternion->axis-angle

• cl_tf: Added functions to convert from and to geometry_msgs/PoseStamped messages

0.1.2

• Fixed a bug with removing no longer known goals in action client
• Fixed a bug with action-client and transitions from succeeded to lost
• Re-release to fix a problem with symlinks in the asdf subdirectory.

0.1.1

• Moved package actionlib_lisp_examples into a separate stack to fix stack dependencies

0.1.0

• Initial release
• Implementation of actionlib in Common Lisp
• Implementation of tf in Common Lisp