v4.0.0
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