1.1.5 (2010-06-25)

urdf
- Deprecate parsing of joints that are not attached to any links. This is not supported by the URDF spec, but the parser used to allow this. <<Ticket(wg-ros-pkg 4448)>>
- Fix bug that allowed parent link of a joint to be unspecified. The parser used to automatically add missing parent links to the tree, but this is not valid according to the URDF spec. <<Ticket(ros-pkg 4198)>>
- Default axis field of joint should be (1,0,0) instead of (0,0,0). <<Ticket(ros-pkg 4200)>>
- InitParam() searches for parameter to fix namespaced use
kdl_parser
- treeFromParam() calls through to urdf::initParam()
robot_state_publisher
- Add regression tests for cases with 1, 2 links in urdf, with and without fixed joints.
- Fix bug where 2-link urdf is not accepted <<Ticket(ros-pkg 4042)>> <<Ticket(ros-pkg 4185)>>
- Fix for when tree has only fixed joints: publish state to tf without expecting empy joint state messages. <<Ticket(ros-pkg 4132)>>

1.1.4 (2010-06-03)

collada_urdf
- URDF visual origin transform now applied to COLLADA node
- URDF mimic joints exported
- <<Ticket(ros-pkg 4116)>> swap rotation/translation.
assimp: Upgraded to 1.1.700 for better COLLADA support

robot_state_publisher
- use new tf broadcaster with vectors <<Ticket(ros-pkg 3955)>>
collada_urdf
- updated API to support loading from strings, files and XML document objects
- writes creation date to COLLADA
- improved error handling
- added unit tests

Merged changes from 1.0.2 release
collada_urdf
- new package for converting from URDF to COLLADA models
colladadom
- new package for COLLADA DOM (a C++ API for reading/writing COLLADA files)
urdf
- Support reading urdf from parameter server

<<Ticket(ros-pkg 3355)>>