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Ameliorations

  • 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
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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.

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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
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Improvements

  • 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

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