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Release Notes: Runtime

1.7.0 - 2021-09-10

dnb_driver_epson

  • Added ls3b401s model

dnb_executor:

  • Service for getting input / output parameters during execution
  • Ignore empty control command in validation

dnb_grid_manager

  • Added content "deactivated" and ignoring of cells with this content for search
  • Added optional setting of only layers of grids
  • Added validation of start cell indices
  • Added strategies TOP_DOWN, BOTTOM_UP for multiple grid layers
  • Fixed that on deleting grids the datastore entry does no get deleted
  • Fixed snake patterns in case of multi layer
  • Fixed issues with cell visualization in case of multi layers

dnb_ik

  • Added new Nachi models

dnb_object_simulation

  • Added alpha color
  • Added service "list_collision_objects" to list all collision objects with the relevant information
  • Added publisher "/notify_changed_objects" to notify others about changed objects.
  • Added parameter temp_object to mark an object as temporary to not save it on export.
  • Added service get_object to return the object data

dnb_robot_simulator

  • Added Nachi and Epson new models
  • Adapted URDFs for collision detection
  • Changed some joint limits
  • Move simulation FB to simulation component
  • Fixed available IOs for Epson

dnb_ros_common

  • Removed old simulation FBs
  • Renamed grid FBs generated errors
  • Added robot-kit basic machine tending application demo

dnb_ros_driver_fanuc

  • Improved communication stability in case of controller hot start

dnb_ros_driver_ur

  • Added function blocks and services to configure payload mass and center of gravity

dnb_ros_remote_robot_control

  • New parameters and small fixes for Nachi

zimmer_grippers

  • Improved usage and visualization of multiple grippers

pylon-ros-camera

  • Updated from pylon5 to pylon6

1.6.9 - 2021-07-23

dnb_component_manager

  • Mesh server loads Robot-Kit library

dnb_driver_abb

  • Fixed joint limits for ABB IRB1200-5-90

dnb_driver_cognex

  • Improved performance on function call speed
  • Fixed small bug in the trigger job FB
  • Separate the job trigger from the job selection which increase the job trigger FB speed by 10x

dnb_driver_epson

  • Added autojlm to do shortest path for joint 6 rotations for cartesian moves
  • Command is also emptyed if checking SCARA rotation in xy plane
  • Update joint-2 limits of LS6 & LS10
  • Fix rotational ROT keyword for movements less than 1 mm distance for relative moves
  • Added breakwheninput also for joints ptp
  • Added breakwheninput also for ptp
  • Removed arriving check after move finished in case that there is a break condition
  • Added linio command and little refactoring

dnb_driver_yaskawa

  • Fixed joint limit for mh180

dnb_grid_manager

  • Fixed search order for grids in service get_next_cell
  • Fixed bug with wrong result variable name in some cases
  • Subscriber to notify_reset_objects to hide grids visualization until next interaction
  • Added service to hide/show grids

dnb_ik

  • Added individual joint speeds for all robots
  • Fixed joint limits for some EPSON and NACHI robots
  • Added joint speed unit information functions and values for: EPSON VT6, NACHI mz07l, NACHI mz04

dnb_object_simulation

  • Adjusted Changelog and package.xml
  • Added hidden flag
  • Updated and renamed Robot-Kit Basic
  • Added Robot-Kit to scn selection
  • Added topic notify_reset_objects to notify others in case of object reset.

dnb_robot_simulator

  • Added speed individual limits for all robots
  • Added NACHI IO configuration
  • Added correct behavior for motion_possible, motors_powered and in_error in teachmode
  • Added robot mode toggle service to switch between automatic and teach mode

dnb_ros_common

  • Introduced autofill options for TCPs
  • Added Quick Access Move FBs
  • Added Get TF Transform FB
  • Removed Robot option as reference frame for relative moves
  • Added exception in case of invalid definition to Pose Checker Box FBs
  • Added available cell contents OK Part and NOK Part to grid FBs
  • Fixed issue that marker is not shown on first use

dnb_ros_driver_fanuc

  • Fixed compile file for karel compilation

dnb_ros_driver_ur

  • Minor adjustments
  • Added watchdogs for realtime and primary connection; exchanged read_some by read for realtime connection

1.6.8 - 2021-05-18

dnb_datastore

  • Fix: Searching case for an id and group of an entry did not respect the group

dnb_driver_epson

  • Added clear queues when replace command stops the current command
  • Added program stop in case of cable disconnection longer than 5 seconds
  • Fix left / right hand SCARA for current hand, clear command error, teach mode
  • Added motion possible aggregated in connector instead in the driver side
  • Included SafetyOn door and hand IOs as new group
  • Adjusted VT6 control panel parameters
  • Fix: Not reaching position correctly
  • Removed mesh artefacts in link5 and link6 of VT6
  • Fix: for automatic and teach mode ros status publish
  • Fix: Overflow timestamp after 10 hours, corrected now to 70 years
  • Added power off on communication timeout

dnb_executor

  • Added the possibility to fast load in action through id (filename) or tittle), tested create, delete

dnb_grid_manager

  • Deactivated checking for teached_cell of trajectory_group to be inside the grid to allow reducing a grid without need of reteach the corners
  • Added checking if teached cell is valid

dnb_modbus_interface

  • Fix: Starting programs by name only worked for odd number of characters

dnb_object_simulation

  • Extended attach service by ignore_range parameter

dnb_robot_simulator

  • Added NACHI models
  • Removed IOs and adjusted some joint limits for NACHI
  • Added missing units to Simulator Objects - Shift FB

dnb_ros_common

  • Added FB to attach objects by object_id ignoring the range
  • Added missing units
  • Solved mergeconflict
  • Added Datatstore Get/Set Joints FBs
  • Added Datatstore Get/Set Pose FBs
  • Added missing units to Simulation - Move/Shift Object FBs
  • Changed grid definition to deltas instead of full grid dimension

zimmer_grippers

  • Added option to show blank gripper rails without example fingers

1.6.7 - 2021-04-13

dnb_grid_manager

  • Grid-Manager rework to version 2. Separates now the initializing phase and the position producing phase with the posibillity to set individual grid cell status.
  • Added service to delete a grid
  • Added services list_grids and get_grid_info
  • Added service set_cell_content to new Grid-Manager

dnb_robot_simulator

  • Added that IOs can trigger the gripper to close or open, default Out 0 and Out 1
  • Fixed EPSON T3 robot model loading

dnb_ros_driver_fanuc

  • More robust version of FANUC driver
  • Fix: Movement now stops at connection break
  • Updated FANUC Karel program
  • Added instructions to setup startup program manually

1.6.6 - 2021-03-26

dnb_driver_epson

  • Added v3 controller version
  • Restart fixed for thread status server
  • Big refactor with improved connection robustness and performance
  • Reduced meshes size
  • Fix joint 3 using meters

dnb_driver_yaskawa

  • Fix move joints final checking

dnb_ik

  • Fix epson ls6 and ls10 joint 3 range
  • Added more Epson models

dnb_robot_simulator

  • Increased FANUC joint Move-To-Position speed
  • Fixed loading of wrong epson models

dnb_robotiq

  • Removed Robotiq FTS from componentlist

dnb_ros_common

  • Added Lookup strategy to Palletizing Position Producer

1.6.5 - 2021-02-24

dnb_driver_epson

  • Added joints pose checking
  • Implemented SCARA hand config

dnb_executor

  • Raising exception in a thread stops siblings if not cacthed

dnb_line_controller

  • Remove an import of deprecated MODBUS package

dnb_modbus_interface

  • Improve start program cycle time

dnb_robot_simulator

  • Fixed: SCARAs do not accept joint commands with 6 axes.

dnb_robotiq

  • Fix: Start and shutdown of component

dnb_ros_common

  • Removed offline frontend from startup as it is now part of the STUDIO
  • "Replaced \xB0 by deg and applied fix to Move Joints 7 Axes"
  • Move joints supports joints with units other than degrees
  • Decided to use unicode for py2 for 3 Function Blocks

zimmer_grippers

  • Fix: Start and shutdown of zimmer gripper component

1.6.3 - 2021-01-27

dnb_driver_abb

  • Fixed IRB2600 Joint6 mesh
  • Fixed ABB 2600 mesh coloring
  • Fixed robot transformation to fit manufacturer transformation

dnb_executor

  • UTF-8 encoding script before indentation check

dnb_line_controller

  • Changed name to Simatic S7
  • Implement direct interface to the Modbus TCP/IP library

dnb_robot_simulator

  • Added removing of IO setup at shutdown
  • Fixed Comau manufacturer base and io setup
  • Added missing ABB 4600 to module config
  • Set all IOs to be simulatable

dnb_robotiq

  • robotiq gripper can now be simulated

dnb_ros_common

  • Added modulo operation to basic math function blocks
  • Added error handling for invalid error codes to raise custom exception
  • Fixed all robots to use manufacturer transformation in the drag&bot Simulation

dnb_ros_driver_fanuc

  • Fixed changing between automatic mode and manual mode

dnb_ros_driver_ur

  • Added version check as urscript function is_within_safety_limits is just available since V3.2
  • Added fix that not reachable PTP movements are ignored

dnb_ros_robot_movement_interface

  • Adjustments for simulated ios
  • Added comments for units to Command.msg
  • Changed one info to debug in tf_move_relative to avoid spamming

dnb_ros_tool_manager

  • Minor adjustments to better handle reloading of world to base transformation

dnb_vision_common

  • Added service to only change the camera application
  • Added QR-Code reader

zimmer_grippers

  • Simulation of the gripper is now possible
  • Added auto reset of blocked gripper error

1.6.1 - 2020-10-28

dnb_component_manager

  • .STL and .DAE files with capital file extension are now supported by the mesh server

dnb_datastore

  • Added interface to driver data topic

dnb_driver_abb

  • Fixed new message size
  • Added just the absolutely minimal changes to work with the modified controller program

dnb_executor

  • Fixed crash in executor if parameters field does not exist in FB

dnb_grid_manager

  • Added support to visualize multiple pallets at once when using multiple pallet position producer

dnb_ik

  • Added YASKAWA MH180, KUKA KR240 R2900 ultra

dnb_robot_simulator

  • Fixed resetting the robot set speed scale to 100%; resetting now doesn't change the speed scale anymore
  • Adjusted dnb_ik service to recalculate the given pose into the robots coordinate system before applying inverse kinematics
  • Adjusted dnb_fk service to return the transformation of the complete tf path from world to dnb_tool_frame
  • Splitted up functionality of Reset Parts and Reset Robot Postion

dnb_robotiq

  • Added sending of error if activation has not performed yet
  • Added latched flag to component status publisher
  • Fixed meshes that parts are now also shown behind transparent objects
  • Removed unnecessary log from function blocks
  • Added simulated gripper node and adjusted FBs to attach detach

dnb_ros_common:

  • Added function blocks to manipulate simulation scene during execution time
  • Palletizing position producer does now additionally produce the final output pose instead of a whole trajectory
  • Added FB Object Simulation - Reattach All
  • Added queue_size for dnb_tool_frame subscribers of Move Cartesian Relative
  • Fixed wrong description of Add to Waypoint Queue parameter for all Move FBs
  • Updated FB Loop Do While to V3 to fix compatibility issue

dnb_ros_modbus_client

  • Added simpler Modbus FBs to interact with coils and holding_registers

dnb_ros_remote_robot_control

  • Minor fixes and optimizations
  • Replaced yellow box with blue sphere as target pose of interactive marker.
  • Changed that marker frames are broadcasted at least every second to avoid unshown markers because of unmoved robots at startup

dnb_ros_tool_manager

  • Fixed waiting until tool is listened after changing the tool

dnb_vision_common

  • Fixed rotation direction of localized patterns

dnb_weiss_wsg50

  • Added Check Grasp FB

zimmer_grippers

  • Fix CP write return false always. fix hrc03 CP max value
  • Added Zimmer as part of the robot simulator to be used with the native function blocks

1.5.9 - 2020-09-16

(NEW) dnb_driver_cognex

  • Added support for cognex camera to drag&bot

dnb_component_manager

  • Added lookup for mesh files of robot in driver packages
  • Removed restart system function temporarily

dnb_driver_abb

  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible

dnb_executor

  • Fixed: When functionblock is skipped do not load python snippet
  • Added error information when no message received from component-manager

dnb_file_manager

  • Added import and export service from/as zip

dnb_grid_manager

  • Added services to configure marker size

dnb_ik

  • Improved accuracy and solver speed significantly

dnb_io_gripper

  • Replaced waiting for io service by just checking existence
  • Made validation of setup at startup continuous instead of once
  • Fixed bad default gripper_id for device gripper 2
  • Set robot.DO[x] and robot.DI[x] as default values for pins
  • Reduced timeout for service ambiguity checks
  • Added timeout for service existence checks
  • Added ambiguity checks for gripper id
  • Added checking whether pin does exist

dnb_quick_access_poses

  • Added tcp_set flag to quick access poses message

dnb_robot_simulator

  • More accurate with improved speed

dnb_robotiq

  • Made usb device configurable from component

dnb_ros_driver_denso

  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible

dnb_ros_driver_fanuc

  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible
  • Robot controller tf is now equivalent to real controller base

dnb_ros_driver_kuka_iiwa

  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible
  • FB updated to recent state

dnb_ros_driver_meca500

  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible

dnb_ros_driver_ur

  • Fixed emergency stop to stop program when pressed
  • Fixed joint limits for visualizing in Operators Panel
  • Error codes extended when no execution possible
  • Include UR16e models and driver support for latest controller version

dnb_ros_tool_manager:

  • Fixed updating the transformation, when changing the transformation of the selected tool

1.5.7 - 2020-07-24

dnb_component_manager

  • Searching for meshes in object simulation as default package

dnb_custom_model_loader

  • Added text for .dae and .stl file support

dnb_datastore

  • Fixed saving in case datastore directory does not exist yet

dnb_driver_abb

  • Fixed meshes
  • Replaced world frame by robot_base frame

dnb_grid_manager

  • Added notification subscriber to republish the markers
  • Made pallet based on world frame

dnb_ik

  • Fixed multiple robot kinematics
  • Added more models to dnb_ik like Universal Robot 16e, Epson SCARA T3 401s, etc.

dnb_robot_simulator

  • More robust target joint poses
  • Changed robot flange from ee_link to robot_state_tcp
  • Increased attach range of simulated object to 3.0cm

dnb_robotiq

  • Implement Robotiq Hand E URDF

dnb_ros_common

  • Added new IO FBs
  • Updated FBs for world coordinate system
  • New IO system: Simplified device selection
  • Added wrapper parameters for set and wait for io block
  • Move Cartesian: rename waypoint title on waypoint add
  • Added object simulation to core launchfile

dnb_ros_driver_denso

  • Added robot (re)start notification in launchfile
  • Added world frame

dnb_ros_driver_fanuc

  • Added world frame
  • Increase the controlpanel cart delta translation blending to 100 % and keep the same for rotation
  • Updated FBs for world coordinate system
  • Added robot (re)start notification in launchfile

dnb_ros_driver_krc4

  • Added world frame
  • Added robot (re)start notification in launchfile

dnb_ros_driver_kuka_iiwa

  • Added world frame
  • Updated FBs for world coordinate system
  • Added robot (re)start notification in launchfile

dnb_ros_driver_meca500

  • Added world frame
  • Added robot (re)start notification in launchfile

dnb_ros_driver_ur

  • Added world frame
  • Added UR16e meshes
  • Fixed stopped movement when io is set for parallel execution
  • added include of missing notify_robot_start launchfile in start.launch

dnb_ros_remote_robot_control

  • Added world frame
  • Reduced minimum joint number to 4 to support Scara kinematics
  • Interactive marker node does only subscribe once to the robot topics
  • Made world frame to be read dynamically
  • Enabled delta in world coords, added world interactive marker

dnb_ros_robot_movement_interface

  • Added world frame
  • Changed new I/O system default namespace from robot_driver to robot
  • Added fk and ik services
  • Made robot restart notification topic based instead of service based
  • Added robot start notify script, to notify tool_manager, etc. ehen a robot is started

dnb_ros_tool_manager:

  • Added throttle for print in case no robot is present to avoid spamming
  • Made robot restart notification topic based instead of service based
  • Adjusted publishers for world coordinate system and added notifier for robot restart
  • Added that tool manager append dnb_tool_frame to world_to_fixed_frame

1.5.6 - 2020-06-18

dnb_datastore

  • Added reset group service. Resets a namespace without deleting the parameter

dnb_robot_simulator

  • Optimized conveyor belt model
  • Added new scene to the robot simulator

dnb_ros_common

  • Added function block Group reset does only reset values not delete items

1.5.5 - 2020-06-05

dnb_component_manager:

  • Increased performance by replacing wait_for_msg service call
  • Added reboot functionality
  • Components do now display a descriptions

dnb_custom_model_loader:

  • Add units to cell model offsets

dnb_datastore:

  • Datastore v2 adaptions such as: group fields, readonly, description,...
  • Fixed: Deleting namespace does not delete variables with same id
  • Added backward compatibility for delete_namespace service
  • Case sensitivity of service calls removed by saving in lowercase format for ID

dnb_ik:

  • Added new models to simulator (KUKA, EPSON, YASKAWA, ABB, Denso, ...)

dnb_io_gripper:

  • Added workpiece detection when gripped PIN is set to throw NO_WORKPIECE exception
  • Added checking of invalid characters in gripper_id component parameter
  • Removed waiting for opened/closed on opening/closing a gripper

dnb_line_controller:

  • Update the component name to SIEMENS PLC
  • Removed password protection from TIA function blocks

dnb_offline_frontend:

  • Fix memory leak in datastore for displayed items

dnb_quick_access_poses:

  • Added delete service for quick programs
  • Added quick program interface

dnb_robot_simulator:

  • Added new models to simulator (KUKA, EPSON, YASKAWA, ABB, ...)

dnb_ros_common:

  • Output of ppp does not contain links anymore and can be used for layers
  • Adjusted Datastore and Grid store function blocks for datastore v2
  • Packed group and id into meta-group for datastore FBs
  • Renamed namespace to group for grid store save
  • Allow non-ascii chars in caption and replace in option and codes with ? to prevent unnotified crash
  • Fixed indexing of PPP of last position with individual pattern
  • Adjusted PPP resulting pallet position for custom pattern on last position
  • Fixed PPP not setting grid position to None
  • Fixed Grid Store - Save using str() before writing value to message

dnb_ros_driver_fanuc:

  • Fixed Typo for reading digital output masks number
  • Replaced simple meshes with meshes of better quality
  • Fixed green status before connection established
  • Fixed bug that robot quits connection when stop is triggered and move state machine is not running on controller

dnb_ros_driver_krc4:

  • Slight adjustments for translation and rotation of control panel moves by using v3
  • Fixed issue that meshes of multiple KRs are not visible beyond transparent materials
  • Fixed the step_translation_factor at the module config files
  • Adjusted rsi port
  • Removed the last waypoint blending check
  • Added user interface for the rsi port configuration
  • Increase the robot stop checking to increase the detection speed
  • Added robot stop checking repeats to ensure that this is the last robot stop and not between the way points

dnb_ros_driver_meca500:

  • Added sending result error when a move should be started right after a stop
  • Added ignore to send move commands to controller until 0.5 seconds after stop being called

dnb_ros_remote_robot_control:

  • Fixed resetting last_pose_sent in move_loop
  • Check the difference between target and current position to difference blending and acceleration
  • Added check of the rotation blending and acceleration using the final position
  • Fixed to only send once the command and avoid repeating the same goal position

1.5.2 - 2020-04-06

(NEW) dnb_driver_epson

  • Added epson robot driver

dnb_component_manager:

  • Added parameter field read-only and hide

dnb_custom_model_loader:

  • Updated descriptions
  • Added file path parameter; Changed file parameter from datatype string to file

dnb_datastore:

  • Replaced error log by to warn log when could not find a specific tool
  • Added check that id doesn't contain spaces
  • Adjusted print on non existent database
  • Introduced typed datastore: Datastore is now saving primitive datatypes

dnb_io_gripper:

  • Fix: Added function blocks to component for importing

dnb_quick_access_poses:

  • Added checking of a tool-center point (TCP) before moving
  • Changed TCP position/orientation to translation/rotation

dnb_robot_simulator:

  • Added parameter to toggle of the built-in machinery
  • Adjusted shifting size for parts to match to the PPP shifted grid
  • Changed robots initial position to point downwards

dnb_ros_common:

  • Fix: User Dialog FBs against non existent services and abort during service call
  • Fix: other FBs against non existent services and abort during service call
  • Fix: Grid-Store FBs against non existent services and abort during service call
  • Fix: 2Pin I/O gripper FBs against non existent services and abort during service call
  • Fix: datastore FBs against non existent services and abort during service call
  • Fix: version of Pose Transformation
  • Fix: User Dialog, User Text Input message is None
  • Added file manger and frame manager to start with the system
  • Made dataType of result Pixel U and V in FB Localize Pattern 2D Integer and new paramIDs to allow update
  • Removed error code UNKNOWN_ENCODING as there is a select for this

dnb_ros_driver_denso:

  • Added better IO publishing
  • Added retry for failing set / get IOs

dnb_ros_driver_kuka_iiwa:

  • Replaced tf2 by tf

dnb_ros_driver_meca500:

  • Added safe position program to meca500 component library

dnb_ros_driver_ur:

  • Replaced tf2 by tf
  • Replaced /world with /base_link in URDF by static_transform_broadcaster

dnb_ros_remote_robot_control:

  • Added independent step for each joint

dnb_ros_tool_manager:

  • Activated translational calibration for tool_calibrator
  • Added tool calibrator

dnb_vision_common:

  • Changed starting of intrinsic_calibration to be with extrinsic_calibration

dnb_weiss_wsg50:

  • Fixed typo in module parameter description
  • Adjusted default IP and GCL description
  • Added Get Position function block

1.5.1 - 2020-03-16

dnb_component_manager

  • Adapted mesh server CORS settings to work for universal LAN IP ranges

dnb_io_gripper

  • Adjusted component parameter description

dnb_robot_simulator

  • Implemented reset parts locations without restarting the robot location
  • Minor change of function block namings

dnb_ros_common

  • Added unit labels to palletizing position producer
  • Fix for aborting Digital I/O Get, Set and Wait For
  • Fix for function block Move Relative ignores every second movement when in loop

dnb_ros_driver_krc4

  • Added RSI 4.x configuration
  • Added APAS KR10 r1100-2 URDF
  • Fixed setting IO and move the robot at the same time

zimmer_grippers:

  • Fixed not checking Homing Ok bit in statusword for grippers with basic protocol

1.5.0 - 2020-03-02

(NEW) dnb_custom_model_loader

  • Added a model loader to add a custom cell to the visualization

(NEW) dnb_custom_model_loader

  • Added a model loader to add a custom cell to the visualization

(NEW) dnb_driver_yaskawa

  • Added YASKAWA driver to the bundle

(NEW) dnb_io_gripper

  • Added gripper component to work with IO grippers

(NEW) dnb_roboception

  • Introduced roboception camera integration

(NEW) dnb_ros_driver_fanuc

  • Added FANUC driver to the bundle

(NEW) dnb_ros_sensor_force_ati

  • Added ATI force torque sensor to bundle

dnb_component_manager

  • Added shutdown launchfile option to components
  • Fix deactivate stop component does not reinitialize the component anymore
  • Enabled the option to get models from the component instead
  • Added waiting until shutdown is completed
  • Allowing connection from all ports of a origin defined in the origins list
  • Added port 80 to mesh server
  • Made reading component.yaml and module_config.yaml more robust for invalid YAML of components field
  • Fixed error by deactivating / activating components

dnb_driver_abb

  • Changed setting of I/O mask to set all masks and not a specific one
  • Adapted the IO System of the ABB driver
  • Changed all irc5compact namings to DSQC 652
  • Changed parameter config for IRC5 compact to DSQC 652
  • Added support for IRB2600 robot
  • Fixed irb4600 model loading

dnb_executor

  • Added move async functionality with an execution queue

dnb_ik

  • Added fully IIWA kinematics and compile instructions
  • Increased success tolerance to 1 cm

dnb_offline_frontend

  • Updated offline STUDIO to be up-to-date with drag&bot STUDIO

dnb_quick_access_poses

  • Added support for joint movement

dnb_robot_simulator

  • Fixed coloring of KUKA IIWA base model
  • Moved the part table, machining table positions
  • Added resetting of the robot model, before startup
  • Changed parts to blue color for more contrast
  • Increased finger grip tolerance to 6 cm, increased IK success to 1 cm
  • Added KUKA IIWA robot model

dnb_robotiq

  • Added units to function blocks

dnb_ros_common

  • Added stop program function block to library
  • Added 7 Axis move function block for joints
  • Added units for displaying to function blocks
  • Added joints transformation function block
  • Added localize rectangle 2D function block
  • Added error handling to all digital IO function blocks

dnb_ros_driver_denso

  • Fixed memory leak
  • Changed double to float in component configuration

dnb_ros_driver_krc4

  • Added Analog IO to driver

dnb_ros_driver_kuka_iiwa

  • Added units to function blocks
  • Fixed coloring of base_link mesh
  • Update Move Cartesian function block for KUKA IIWA

dnb_ros_driver_ur

  • Added support for controller version V3.11 and V5.5
  • Fixed support for V1.8 controllers
  • Fixed bug for zero rotation (if all three rotation angles equals 0)
  • Adjusted joint limits to 355 deg

dnb_ros_tool_manager

  • Fixed broadcasting to wrong tool frame, after robot changed

dnb_weiss_wsg50

  • Added units to function blocks

zimmer_grippers

  • Added units to function blocks
  • Updated open and close function blocks with error handling and stop on abort
  • Added stop service for stopping the movement
  • Added self-made checker for gripper move end based on position, many changes for reliability
  • Many improvements in move finish detection and logic

1.4.1 - 2019-11-14

dnb_ros_common

  • Removed redundant function block 'Loop do while' v1.x

1.4.0 - 2019-10-28

camera_control_msgs

  • Introduced for pylon driver for basler cameras

dnb_component_manager

  • Fixed startup of component when in error still working ROS system

dnb_driver_abb

  • Introduced ABB driver in the runtime bundle

dnb_executor

  • Fixed bug for parallel error handling. Now stopping after error in a parallel thread
  • Fixed bug on error handling which prevents continue of a program after error handle due to false string compare

dnb_grid_manager

  • Introduced grid manager for visualization of a pallet application

dnb_quick_access_poses

  • Introduced quick access poses for quickly moving to a predefined pose

dnb_robot_simulator

  • Increased joint limits
  • Added shift grid function block to simulator

dnb_robotiq

  • Added force publisher for ft300 to have tare and untare functionality with function blocks
  • Adapted function block names

dnb_ros_common

  • Added quick access poses as default to startup launch file
  • Added vision save camera image
  • Removed 3d palletizing block
  • Fixed math expression function block
  • Change loop do while to v2 with output of the cycle
  • Fixed endless palletizing position producer v7

dnb_ros_krc4

  • Adapted urdf descriptions of different robot types
  • Made generic version of the driver to select model in a drop-down list
  • Adapted rmi pose checking to 0.01 instead of 0.001
  • Improved control panel to v2 with: PTP_REL, LIN_REL, Unit std, startup velocity of 10

dnb_ros_driver_kuka_iiwa

  • Update the robot update rate to 2 Hz

dnb_ros_remote_robot_control

  • Reactivated interactive markers with base orientation and tool orientation

dnb_ros_tool_manager

  • Increased performance by rewriting core parts in c++

1.3.0 - 2019-09-19

dnb_etherdaq_ros

  • Added Component Manager registration in ROS launchfile

dnb_executor

  • Fixed linking subprogram outputs from internal function blocks
  • Added lock to wait until a program is fully loaded before returning empty get parameters

dnb_ros_common

  • Adjusted all FBs boolean inputs and outputs to be secure
  • Removed unnecessary error handling for AND, OR and NOT function blocks
  • Added basic math function blocks
  • Added to_string_float/integer function blocks

dnb_vision_common

  • Added intrinsic calibration

zimmer_grippers

  • Added Component Manager registration to ROS launchfile

1.2.0 - 2019-09-04

(NEW) dnb_robot_simulator

  • Added a robot simulator with a milling machine for demonstrations and education purposes

dnb_executor

  • Not validating parts of a program if function block are deactivated

dnb_offline_frontend

  • Added experimental pause functionality especially for UR robots
  • Deleting programs now needs confirmation

dnb_ros_common

  • Updated 'Move Joints' and removed logging
  • Added vision block for detecting patterns
  • Exported dnb_msgs to public repository dragandbot_common
  • Added error handling to datastore function blocks
  • Fixed double negation in set_integer

dnb_ros_driver_denso

  • Configured launch files and module config to use with force module

dnb_ros_driver_kuka_iiwa

  • Wrench header id now is tool_frame (which is the configured robot TCP on the controller, usually flange)
  • Using control panel v2

dnb_ros_driver_ur

  • Added support for controller versions V3.10 and V5.4 as they broke the interface

zimmer_grippers

  • Doubled the time to wait after changing direction to not need double clicks on move to ... position
  • Implement direction flag reset

1.1.0 - 2019-07-12

dnb_component_manager

  • Stopping because of error in component manager is now more transparent

dnb_datastore

  • Fixed simultaneous calls leading to corrupt file

dnb_etherdaq_ros

  • Updated component configuration
  • Added FNBs to component

dnb_executor

  • Indent errors can now be identified
  • Added exception handling for IndentationError and SyntaxError
  • New service list_program_titles to get current file db titles
  • Added unicode transformation for comparing titles with NON-ASCII characters
  • Switch case FNBs are now possible

dnb_grid_manager

  • Introduced grid manager for visualizing grid status in visualization

dnb_offline_frontend

  • Added datastore view
  • Tablets can now use offline GUI

dnb_robotiq:

  • Added wizards to component
  • Updated Init FNB

dnb_ros_common:

  • Grid manager started in bringup.launch
  • Fixed memory leak in move blocks with ActionManager
  • Acceleration with m/s^2 and blending in m is possible again
  • Updated FNB icons
  • Added switch case FNB
  • Renamed 'UserChoiceNotification' to 'UserDialog' and updated some switch case descriptions
  • Added io gripper to FNB library

dnb_ros_driver_denso:

  • FNB added to component
  • Clean rosparam robot_config for cobotta
  • Cleaning rosparam robot_config before reloading the robot to prevent keeping values from another robot
  • Fixed typo in cartesian_delta_velocity and set up to default value 0.01

dnb_ros_driver_krc4:

  • Added FNB to component
  • Rosparam robot_config cleaning added when loading driver

dnb_ros_driver_kuka_iiwa:

  • Added FNBs to component and made adjustments

dnb_ros_driver_meca500:

  • Added FNB to component
  • Fixed typo in velocity id rosparam corrected'

dnb_ros_driver_ur:

  • Experimental flag Pause in component configuration
  • Fixed reconnecting to restarted controller
  • Added poweroff FNB for shuting down robot
  • Added tare FNB for taring robot forces
  • Force module adjustments
  • Fixed wrong indent in model_ur5e.yaml
  • Added switch in component and driver to enable/disable the joint velocity interface.
  • Fixed order of checking for a failed move
  • Fixed version print
  • Throttled error message 'message length cannot be identified'
  • Added result code -1 when errors occur in controller or emergenyc stop is pressed
  • Added joint velocity interface for pitasc
  • added a cleaning of robot_config parameters before loading to prevent false configuration being used when changing from one robot to another

dnb_ros_modbus_client:

  • Added FNBs to component
  • Removed DEPRECATED modbus module yaml files. Prevents from appearing of outdated zimmer grippers.

dnb_ros_remote_robot_control:

  • Fixed Clear parameters after reloading a robot, just in case another robot was installed previosly (bug)

dnb_ros_robot_movement_interface:

  • Added tare, untare and averaged values to ForcePublisher
  • Added cycle measure tool

dnb_ros_tool_manager:

  • Replace robot on the fly is now possible

dnb_weiss_wsg50:

  • Added FNBs to component

zimmer_grippers:

  • Added FNBs to component

1.0.1 - 2019-05-15

dnb_component_manager

  • Stopping execution when component is stopped or in error
  • Added docker flag to launch file and handling paths
  • Added errorhandling for select fields
  • Added a select field to component configuration
  • Removed unnecessary rospylogerr
  • component_manager.py added status 0 (Unknown) as valid running
  • Fixed call of regular status check of components
  • Components are defined in one module file each, small changes for configuration
  • Added human interaction as a static component with interaction request status
  • Added a status topic for the CM itself
  • Many other changes

dnb_ros_common

  • Added datastore as part of coresystem to default launch
  • Added SetString srv to dnb_msgs
  • Added Offline-GUI to bringup launch

dnb_ros_driver_kuka_iiwa

  • Added change workpiece weight for tool
  • Make the driver compatibale with old rev,
  • bug fix
  • update Sunrise driver to implement the Orint. velocity control with the LIN movement
  • Implement Impedance control with/without User Button using the same movement container
  • Shift Impedance Control to IO class
  • Update Impedance Control Function to include Pose and Orint. selection
  • Updated Sunrise driver and new IO_Interface Class
  • Correct the ROSPARAM for the numbers of the Inputs and Outputs in the Laungh fiels and driver
  • Working Impedance control with light activation and update java file
  • default speed_factor set to 0.1.
  • implement io_status publisher
  • Many other changes

dnb_ros_driver_ur

  • Reduced limit for blending to 0.01mm
  • Made publishing of forces switchable from component manager
  • Solved important bug in the real time socket communication. For newer protocols, we have to specifically add the byte length
  • Minor bugfix
  • Corrected cartesian rescale
  • Implemented speedl and speedj commands for new control panel
  • Added Logger to rmi and initialization function to ForceRecorder
  • Added CTRL-LIN command for control panel
  • Added force publisher

dnb_ros_robot_movement_interface

  • Made publishing of forces switchable
  • Added init function to ForcePublisher of rmi
  • Added ScaleSpeedManager, ComponentStatusPublisher, RobotDataPublisher and TCPStringSocket
  • Added cpp logger for enabling/disabling outprint of rmi
  • RMI python lib allows now conversion of command types other than LIN and PTP
  • Minor bugfixes
  • Changed behavior of validation that any command_types and pose_types are accepted in rmi for cpp
  • Added dirty conversions from M to RAD and similar in rmi for cpp
  • Changed definition for % to [0.0:1.0] and added definition for PERCENT from [0:100] in rmi for cpp
  • Fixed writing to python tuples bug for dnb_rmi_library