/ Release notes

Version 5.7.3 - 2025/03/10

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Améliorations

refacto : Utilisation de roslibpy au lieu de rospy

Bug Fixes

Fix : le registre modbus des convoyeurs qui crashait
Fix : Publication sur le topic quand le serviceupdate_program est appelé

Version 5.7.1 - 2025/02/17

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Améliorations

Verifie la validité de la trajectoire avant de l’exécuter et affiche un message d’erreur si un des points est en dehors de la limite
Pas de wait_for dans les noeuds des constructeurs. Utilisation à la place de callback / lazy loading
Expose le topic /niryo_robot_led_ring/led_ring_status à travers le led ring ros wrapper pour les 3 propriétés suivantes :
is_autonomous
animation_mode
color
Expose le service /niryo_robot_led_ring/set_user_animation à travers le led ring ros wrapper avec la fonction set_user_animation. Toutes les fonctions d’animation de niveau supérieur utilisent celle-ci en interne.
Nouveau programme de démonstration, qui effectue les mêmes actions que le précédent mais de manière plus lisible dans le programme
Le programme de démonstration est également unique pour tous les robots.
Ajouter les fonctions manquantes à l’objet JointsPosition pour le rendre compatible avec set attr.
Désactive le timeout de la WebSocket client.
Ajout optional: true à l’interface eth.

Bug Fixes

Fix une typo dans le service client arm commander ce qui previent au service d’être appelé pendant l’arret du robot et lors de l’utilisation de ros wrapper
Corrigé la transformation de la pointe de calibration du Ned3pro.
Fix un bug dans robot_state publisher ce qui évite une alerte quand on divise par 0
Résolution de plusieurs bugs liés à la simulation du robot qui l’empechait de fonctionner correctement
Ajout d’accessoires manquants dans la simulation
Le package Modbus n’est plus démarré pendant la simulation
Fixed the control loop which is not releasing its lock if the loop frequency is too fast
Fix les boucles de contrôle qui ne libéraient pas son verrouillage si la fréquence de la boucle était trop rapide.
Les moteurs fictifs ne nécessitent plus d’être calibrés en simulation.
Vérifie si un fichier audio est vide avant de le charger.
Le end effector continuait de publier l’état des boutons pendant que le calibrage est en cours.
Un bug empêchait l’API cloud de mettre à jour ses valeurs S/N et rasp_id
Correction : dhcp_server_reachable est plus fiable.

Version 5.7.0 - 2024/12/09

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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

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.