ned_ros

v5.1.3

✨Features

🛠Improvements

• Added a field "saved_at" in the service /niryo_robot_programs_manager/get_program response

🪲Bugfixes

v5.1.2

✨Features

🛠Improvements

• The daily reports can now send metrics about the robot. Currently, the total lifetime of the robot is sent

🪲Bugfixes

v5.1.1

✨Features

🛠Improvements

• Revamped WiFi button functionalities: Brief press (< 2s) toggles hotspot; Extended press (> 2s) enables/disables WiFi client; Long press (> 7s) restores network settings. To abort, press for over 10 seconds.
• WiFi button press triggers LED ring indication for forthcoming action.
• The database node use the system software HTTP API to get and set the settings in the database. This is to ensure there is only one access point to the database.
• Reduced the grippers open / close torque to slow down the motor's heating

🪲Bugfixes

• Resolved an issue where the hotspot failed to initiate concurrently with the WiFi client.
• Fixed a bug that consistently disregarded the "purge ros logs on startup" command.
• Fixed a problem that sometimes stopped the camera from recognizing colored shapes.
• Fixed an issue that permitted editing of dynamic frames belonging to workspaces.
• Rectified dynamic frame editing by implementing quaternion normalization.
• Fixed a bug that caused the vision picks to catch objects by their corners.

v5.1.0

✨Features

• The topic /niryo_robot_tools_commander/tcp now return the tcp position either if it is enabled or not
• Every part of a dynamic frame can now be edited using the service /niryo_robot_poses_handlers/manage_dynamic_frame
• Manage a file in ~/.ros/logs which store the date corresponding to the ros run ids

🛠Improvements

🪲Bugfixes

v5.0.1

✨Features

🛠Improvements

🪲Bugfixes

• Fixed a bug preventing the downloaded update to be applied successfully

Patch:

• PIDs
• Vaccuum pump
• Calibration
• Tool scan

Additions:

• Doc: quick start
• Doc: real robot

January release - Hardware Stack refinement

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Requirements

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Ubuntu packages

• sqlite3
• ffmpeg
• build-essential
• catkin
• python-catkin-pkg
• python-pymodbus
• python-rosdistro
• python-rospkg
• python-rosdep-modules
• python-rosinstall python-rosinstall-generator
• python-wstool
• ros-melodic-moveit
• ros-melodic-control
• ros-melodic-controllers
• ros-melodic-tf2-web-republisher
• ros-melodic-rosbridge-server
• ros-melodic-joint-state-publisher-gui

Python libraries

See src/requirements_ned2.txt file

Packages

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New packages

• niryo_robot_database
• niryo_robot_led_ring
• niryo_robot_metrics
• niryo_robot_reports
• niryo_robot_sound
• niryo_robot_status
• niryo_robot_hardware_stack/can_debug_tools
• niryo_robot_hardware_stack/common
• niryo_robot_hardware_stack/end_effector_interface
• niryo_robot_hardware_stack/serial

Renamed packages

• niryo_ned_moveit_config_standalone becomes niryo_moveit_config_standalone
• niryo_ned_moveit_config_w_gripper1 becomes niryo_moveit_config_w_gripper1
• niryo_robot_hardware_stack/stepper_driver becomes niryo_robot_hardware_stack/can_driver
• niryo_robot_hardware_stack/dynamixel_driver becomes niryo_robot_hardware_stack/ttl_driver
• niryo_robot_hardware_stack/niryo_robot_debug becomes niryo_robot_hardware_stack/ttl_debug_tools

Removed packages

• niryo_robot_serial_number
• niryo_robot_unit_tests
• niryo_robot_hardware_stack/fake_interface

Cleaning and Refactoring

• roslint compliant
• catkin lint compliant for most part
• add xsd validation for launch files and package.xml files
• updated packages format to version 3
• updated c++ version to c++14
• clang and clazy compliance improvement
• rosdoc_lite set up in all packages
• catkin_tools compliant
• install space working
• sphinx_doc restructuration
• add hardware_version discrimination between ned, one and ned2
• add ned2 configuration files in all packages
• niryo_robot_arm_commmander refactoring
• niryo_robot_python_ros_wrapper refactoring

Features (for Ned and One only)

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• add VERSION file at root
• add CHANGELOG.rst in every package (using catkin_generate_changelog tool)
• update PID values for Dynamixels
• Replace fake interface by mock drivers for steppers and Dynamixels
• Add compatibility for TTL conveyor belts (upcoming)
• Add Ned2 features (upcoming)
• niryo_robot_bringup refactoring
• improve control loops for ttl_driver and joints interface

Know issues (for Ned and One only)

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Can't scan 2 conveyors at the same time. Please scan the conveyors one by one.

Limitations

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• Calibration deactivated on Simulated Ned and One
• Not officially supporting Ned2 hardware version
• Hotspot mode is always on by default on reboot for the Niryo One

Niryo Studio

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New features

• Network settings (DHCP / Static IP)
• Hardware detection One / Ned / Ned2
• Display TCP Speed
• Blockly - Dynamic blocks (Saved pose, workspace)

Bugs fix

• Blockly - Conversion RAD / DEG in block

September 2021 release

Fix grip offset for gripper3 (vision pick)

• Adjust PID of DXL 6 (gripper was shaking)
• Fix issue about unresponsive DXL motors that happened sometimes due to a bug of the equip_tool function
• Documentation updated
• Some minor improvements

First push for Ned ROS stack v.3.0.0