/ Release notes

Version 5.6.2 - 2024/10/01

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New Features

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

Improvements

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

Bug Fixes

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

Version 5.5.0 - 2024/07/11

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Features

Implemented NED3 hardware changes into the niryo_robot_rpi package
Added support for NED3 calibration
Added support for the conveyor with NED3 stepper motor
Added support for vacuum pump v2
Added velocity and acceleration profiles for vacuum pump v2
Updated the robot’s URDF to follow the Denavit-Hartenberg convention
Introduced new Pose and JointsPosition classes
The /niryo_robot_arm_commander/robot_action action server now handles both old and new TCP versions using the tcp_version field in ArmMoveCommand.msg
Updated niryo_robot_poses_handlers grip files to align with the new TCP orientation
Added pose_version and tcp_version to NiryoPose.msg
New generic classes designed to represent data:
- JointsPosition
- JointsPositionMetadata
- Pose
- PoseMetadata
New functions in niryo_robot_poses_handlers/transform_functions: convert_legacy_rpy_to_dh_convention() and convert_dh_convention_to_legacy_rpy()
Added new functions to ros_wrapper.NiryoRosWrapper that can take either Pose or JointsPosition objects:
- move, replacing move_joints, move_pose, and move_linear_pose
- jog_shift, replacing jog_joints_shift and jog_pose_shift
- pick, replacing pick_from_pose
- place, replacing place_from_pose
- execute_trajectory, replacing execute_trajectory_from_poses and execute_trajectory_from_poses_and_joints
- compute_trajectory, replacing compute_trajectory_from_poses and compute_trajectory_from_poses_and_joints
New TCP server commands: GET_COLLISION_DETECTED, CLEAR_COLLISION_DETECTED, HANDSHAKE, MOVE, JOG, PICK, PLACE, EXECUTE_TRAJECTORY
Updated tool translation transforms to match the new TCP orientation
Added hardware ID to the conveyors (v2 and v3)
The new robot pose is now published on /niryo_robot/robot_state_v2 for compatibility with older NiryoStudio versions
The new relative robot pose is published on /niryo_robot_poses_handlers/relative_pose_v2 for compatibility with older NiryoStudios
Added a service to retrieve the conveyor hardware ID to differentiate between v2 and v3 models, service name: /niryo_robot/conveyor/get_hardware_id
Added services for forward and inverse kinematics using the new TCP convention (Z-axis pointing forward)
Added a ROS wrapper function to get forward kinematics using the new TCP convention (Z-axis pointing forward)
Introduced a new ROS topic /niryo_robot_tools_commander/tcp_v2, which publishes the transform from hand_link to the TCP following the new TCP convention
Adjusted robot’s pose limits for NED3 to match its reachability
New ethernet mode: auto
- Automatically detects if the robot is connected to a DHCP network; switches to DHCP mode if detected, otherwise defaults to IPV4LL mode

Improvements

Used the I/O panel version instead of the robot hardware version to differentiate implementations
Created a set of gpio_expander_adapters classes to handle GPIOs similarly to how MCP IOs are handled
Updated the DACx0501 driver
NiryoRosWrapper.vision_pick now accepts an optional observation pose (obs_pose)
Added speed limit percentage for the conveyor
When a tool stops moving, a position-holding command is sent instead of resending the max position command, significantly reducing temperature rise
Updated Dynamixel PID for axes 4 to 6

Bug Fixes

Stopping a program now sends SIGTERM, followed by SIGKILL after 3 seconds if the program doesn’t exit gracefully
Grasp and release actions now use feedback to determine completion rather than stopping after a fixed time
Debounced emergency stop resume to avoid resuming on small 12v spikes
Renaming a dynamic frame now also updates its name in the transform
Fixed NiryoRosWrapper.get_workspace_list to no longer return an error
The TCP server’s __send_answer_with_payload now encodes the payload only if it’s not already encoded
Fixed intermittent delay in the control loop caused by a ROS spinOnce call
Fixed a bug causing the FirmwareUpdater to crash when the end effector version was not set

Version 5.4.0 - 2024/03/27

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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.