Improvements

  • Check saved trajectory validity before executing it and output an error message if a waypoint exceeds the soft limits

  • No wait_for in nodes constructors. Use callbacks / lazy loading instead

  • Expose /niryo_robot_led_ring/led_ring_status topic though the led ring ros wrapper with 3 new properties:

    is_autonomous

    animation_mode

    color

  • Expose the service /niryo_robot_led_ring/set_user_animation though the led ring ros wrapper with the function set_user_animation. All the higher animation functions use this one under the hood

  • New demo program, which do the same actions than the previous one but in a more readable fashion

  • The demo program is also unique for all the robots

  • Add missing functions to JointsPosition object to make it set attr compatible

  • Add the module end_of_production_test to the niryo_robot_utils package

  • LedRingManager handle the led ring during the EOP test

  • Disable the timeout of the websocket clients

  • Add `optional: true` to eth interface

Bug Fixes

  • Fixed a typo in arm commander stop command service clients which prevented the service from being called during robot shutdown and when using the ROS wrapper

  • Fixed program player unit tests so that they reflect the entire finite state machine

  • Fixed Ned3pro calibration tip transform

  • Fixed a bug in the robot_state publisher which issued a warning when trying to divide by 0

  • Resolved multiple bugs that were preventing the simulated robot stack from functioning properly

  • Added missing tool parameters in simulation

  • Modbus ROS package is not started anymore in simulation mode

  • Fixed the control loop which is not releasing its lock if the loop frequency is too fast

  • Fake stepper motors does not require to be calibrated anymore in simulation

  • Check if a sound file is empty before loading it

  • The end effector panel still publish the buttons state while calibration is in progress

  • Fixed a bug which caused the cloud api to not update it’s S/N and rasp_id values when they are updated

  • Fixed a bug causing the check_connection service to ping the wrong endpoints for the reports micro services

  • fix: dhcp_server_reachable is more reliable

32Go SD Card