Improvements

  • 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
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