0.7.0

• Software Update - v0.7.0
• New Feature Documentation for 0.7.0
• Topic Changes: Old-to-New Table

Major Updates

• Joint torque control
• Joint position accuracy improvements (factor of 10)
• ROS Groovy on robot
• Gazebo Support
• Topic cleanup allowing for direct robot communication (no proxy, decreased latency)
• SDK re-organization into standalone metapackages
• Ability to set speeds of joint position command execution
• Ability to specify gripper/object mass for custom grippers

Additions

• Joint torque control
• Gazebo Support
• Ability to set speeds of joint position command execution
• Ability to specify gripper/object mass for custom grippers
• Introduction of baxter_core_msgs and baxter_maintenance_msgs
• Convenient catkin environment initialization script baxter.sh
• ROS/network configuration in tty3 of the robot
• Gripper Cuff control example
• Ability to reset cameras (re-enumerate if not listed at startup)
• Gripper Action Server and example program
• Gripper control in joint trajectory playback example
• Gripper cuff control in joint recorder
• Ability to disable arm-to-arm collision avoidance
• Ability to disable cuff zero-g interaction
• Ability to disable gravity compensation
• Launch files for action server/joystick examples
• Boot animation

Removals

• baxter_msgs (now baxter_core_msgs, baxter_maintenance_msgs)

Changes

• ROS Groovy on robot
• Joint position accuracy improvements (factor of 10)
• Topic cleanup allowing for direct robot communication (no proxy, decreased latency)
• SDK re-organization into standalone metapackages
• Catkin/Bloom standard package reorganization
• ROS logging cleanup for console, diagnostics use.
• More explicit error messages
• Improved verbosity/standardization of help output
• FSM diagnostic test updates

###Fixes

• Tuck arm improvements to handle ctrl-c and partial tucks