dynamic-content-widget-f3c9267-40db81f

Add utility script to configure the robot’s firewall
Add the ability to allow or prevent multiple NS clients to connect to the robot
Add utility script to configure the ability to allow or prevent multiple NS clients to connect to the robot simultaneously
Add database migration to the updater script
The robot hostname is now dynamically set at boot time. It uses the following format: <robot_type>-<rasp_id>
Added a mDNS service to allow the robot to be discovered on the network

Added topic /niryo_robot/max_acceleration_scaling_factor to check current acceleration percentage
Refacto of the wifi button handling: the name reflects its real job, managing solely the hotspot
Disabled torque of steppers not being calibrated during factory calibration
S3Client: Use internet connection observable to check if the robot is connected to the internet
S3Client: Use SystemctlWrapper to restart NTP service (used to sync the Raspberry Pi’s clock)
WebSocket: Return an acknowledge message on the register event containing the robot’s info (name, rasp_id, hw_version)
Allow multiple NS clients without needing to restart the service
New config handling: use lazy loading for variables dependent on other variables
AllowedNSClientsObservable now has a callback for external database updates
Add remaining number of NS available connections

Fix: use forward_kinematics_v2 in __ros_poses_from_robot_positions
Fix: P changes in DXL’s PID
Fixed a bug while setting acceleration from the /niryo_robot_arm_commander/set_acceleration_factor service, which always set it to 40%
Fixed the conveyors’ direction, which was inverted in the Modbus server
Fixed PoseMetada.from_dict, which wasn’t passing the ‘frame’ argument when using a PoseMetadata.v1
Fixed collision thresholds settings that weren’t correctly calling the setting of the 2nd threshold with the wrong datatype
Fixed a bug in __hotspot_state_callback that still processed the API response even if the request failed
Fixed tools transforms for Ned3 Pro
Fixed a missing offset in the URDF for Ned3 Pro
Fixed a goal tolerance too low for joint 1
Fix: increase remaining_ns_clients_slots instead of decreasing it
Fixed a misuse of Marker instead of Prefix in the S3Client
Fixed type errors in some standard_response calls
UpdateManager no longer bypasses the config_file_manager
Safe deserialization in the SocketIO event
Correct type hint for __auto_control_loop_thread