Improvements

  • The service /niryo_robot/kinematics/forward now includes status and message in its response.
  • The service /niryo_robot/kinematics/inverse now includes status and message in its response.
  • Introduction of a new Modbus server.
  • Enhanced functionalities in ros_wrapper: get_current_tool_state, get_tcp, get_digital_io_mode, get_available_disk_size, get_ros_logs_size, control_video_stream.
  • Addition of new endpoint in system_api_client: get_system_version_current.
  • Increased threshold for end effector collision detection.

Bug Fixes

  • The set_program_autorun service did not consider the mode when transitioning to “DISABLE”.
  • Correction made to the /niryo_robot/kinematics/forward service, which occasionally crashed due to transformation extrapolation.
    In ros_wrapper, __conveyor_id_to_conveyor_number no longer depends on currently attached conveyors.
  • Fixed incorrect docstrings in ros_wrapper.
  • Fixed a bug preventing vision captures with enabled TCP transformation.
  • Fixed a bug that prevented a running program process from stopping completely.
  • Fixed a bug in NiryoActionClient that did not handle response timeouts.
  • Fixed a bug that could cause the tool commander action server to remain permanently blocked in active mode.
  • Fixed a bug preventing the tool commander action server from accepting new goals once a goal with a future date was published.