January 2022 release - Niryo One & Ned compatibility - Hardware Stack refinement¶
Requirements¶
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¶
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)¶
- 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)¶
Can’t scan 2 conveyors at the same time. Please scan the conveyors one by one.
Limitations¶
- 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
September release - New features batch¶
Features¶
Tool commander package¶
TCP service settings
TCP.msg
SetTCP.srv
Arm commander package¶
New movements available in ArmMoveCommand.msg
linear pose
shift linear pose
trajectory
Python ROS Wrapper package¶
New movement functions available
move linear pose
linear pose
jog pose shift
jog joints shift
shift linear pose
execute trajectory from pose
New TCP functions available
set_tcp
enable_tcp
reset_tcp
New camera settings functions available
set_brightness
set_contrast
set_saturation
Improvements¶
Refactoring Tool Commander and Robot Commander packages.
Remove Robot Commander package
Reorder Robot Commander package between Tool Commander and Arm Commander packages.
Self collision detection
Add self-collision detection via MoveIt.
Collision detection
Collision detection improvement on each joints.
Learning mode activation in case of a collision.