2.4.0

2.4.0 (2026-01-07)

• API changes:
  • New CRTK convention, data is always published, but timestamp is set to zero if data is invalid. All methods to retrieve data now return data, timestamp tuple.
  • Bumped CMake minimum required to 3.16
• Deprecated features:
  • All methods returning data have a new signature.
• New features:
  • New classes dvrk.system and dvrk.console
  • Added simple time stats to dvrk_arm_test.py
  • Update dvrk_teleoperation.py for ROS 2
• Bug fixes:
  • Ported all scripts to new CRTK signature (return data, ts)
  • Fixed potentiometer calibration scripts for insertion, should always use local.forward_kinematics
  • dvrk_bag_replay.py: bag storage now hardcoded to mcap for Jazzy, was sqlite3 before

2.3.0

2.3.0 (2024-08-31)

• API changes:
  • New repository based on old dvrk-ros but only includes dvrk_python part. For previous releases, see archived repository dvrk-ros (https://github.com/jhu-dvrk/dvrk-ros).
  • Supports ROS1 and ROS1
• Deprecated features:
  • None
• New features:
  • Teleoperation script with logic based on existing C++ implementation
• Bug fixes:
  • None