Improve /niryo_robot/conveyor/feedback reactivity when a conveyor is added or removed
Added convenience function NiryoRosWrapper.init_with_node which init a ros node and returns a NiryoRosWrapper instance
Deprecate NiryoRosWrapper.move_relative
Added a param normalize=True to NiryoRosWrapper.msg_from_pose
Add security checks to NiryoRosWrapper.unset_conveyor and NiryoRosWrapper.control_conveyor
NiryoRosWrapper.get_conveyors_feedback now returns a list of dict instead of a list of ConveyorFeedback messages
Added the following functions to the TCP server:
GET_POSE_V2
FORWARD_KINEMATICS_V2
INVERSE_KINEMATICS_V2
GET_TCP
GET_CONVEYORS_FEEDBACK
Revert –robot_type arg deletion but set it deprecated to avoid breaking changes
Bug Fixes
Fixed wrong camera and gripper transforms in Ned3pro and Ned2’s URDF for simulation
Fixed a bug which prevented the jog feature to work
Use lazy loading from database when getting the joints home position settings to prevent a bug where the robot was unable to access the database at boot time
Ned3pro digital inputs are now not inverted
Fixed the jog features
Fixed NiryoRosWrapper.__get_obj_from_args which didn’t work with JointsPosition
Fixed NiryoRosWrapper.forward_kinematics which returned v2 metadata despite being a v1 pose
Fixed NiryoRosWrapper.inverse_kinematics which returned was converting poses to v2 before doing the inverse kinematics
Fixed a bug in Pose which was allocating the same instance of PoseMetadata when using the constructor’s default metadata value
Fixed a bug where memory was allocated and not freed each time the program player’s node tried to connect to an inexistant device
Fixed a bug in Tool ROS wrapper which was not using the correct service type when calling tool reboot service
Use correct message type for ros subscriber in arm_state
WifiClient.get_configured_networks now parse correctly SSIDs with characters different than `[0-9a-zA-Z- ]`
Missing type for environment default insertion in base.py
Fixed a bug which caused to set the default ethernet mode to DHCP instead of AUTO if not in DB
WifiClient can handle SSIDs with any unicode characters