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
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
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
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.
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