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Release Notes: Runtime

2.2.0 - 2023-04-24

dnb_ros_kemrox_variable_client

[1.2.0] - 2023-05-17

Added

  • Added Executor status variable in KemroX.
  • Added Robot E-Stop status variable in KemroX.
  • Added saving manually registered keys as ROS Params and loading from there at startup
  • Added support for KemroX version 4.5.0
  • Added alive signal to KemroX 4.5.0 to detect whether connection is interrupted

Changed

  • Separated code for KemroX 4.4.0 and KemroX 4.5.0
  • Changed release version management

Fixed

  • Fixed an issue with changing the values of empty strings with the REST Variable Client.
  • Fixed that deregistering a manually registered key also does not publish it any more in the variables topic
  • Fixed a memory leak

dnb_rmi_library

[1.7.0] - 2023-03-31

Added

  • Added NotificationServer to provide service or topic based notifications
  • Added NotificationClient to receive service or topic based notifications
  • Added poseTFToArray6Float function to rmi_conversion

Changed

  • Changed release version management

Fixed

  • Fixed indentation error which breaks python rotation libraries

dnb_datastore

[2.4.0] 2023-03-03

Changed

  • Changed release version management

human_interaction

[0.2.0] - 2023-03-31

Added

  • Added non-blocking user messages.

Changed

  • Changed release version management

dnb_bringup

[0.2.0] - 2023-04-19

Changed

  • Changed release version management

dnb_fb

[2.1.0] - 2023-03-31

Added

  • Function Block "Create Robot TCP": Added custom_options parameter to suggest available tool center points
  • Added Function Block "User Message"
  • Added Function Block "Logic Bitwise"
  • Added Function Block "Grid - Delete"

Changed

  • Changed release version management

dnb_robotkit

[1.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_roboception

[1.4.0] - 2023-03-31

Changed

  • Changed release version management

dnb_object_simulation

[1.4.0] - 2023-03-31

Changed

  • Changed release version management

wsg50_driver

[1.0.0] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_cognex

[1.3.0] - 2023-03-31

Changed

  • Changed release version management

dnb_modbus_interface

[1.5.0] - 2023-03-31

Changed

  • Changed release version management

dnb_quick_access_poses

[2.4.0] - 2023-03-21

Changed

  • Changed release version management

dnb_robot_simulator

[1.6.0] - 2023-04-13

Added

  • Added ABB IRB1300-11/0.9 robot model
  • Added ABB IRB1300-10/1.15 robot model
  • Added ABB IRB1300-7/1.4 robot model
  • Added ABB IRB1300-12/1.4 robot model
  • Added ABB IRB1100-4/0.58 robot model
  • Added ABB IRB1100-4/0.475 robot model
  • Added HIWIN RA605-710 robot model
  • Added Fanuc CRX-10iA/L robot model
  • Added Comau Racer 7-1.4 robot model
  • Added reduced speed for LIN-only rotations

Changed

  • Changed release version management

Fixed

  • Fixed issue with loading kinematics from wrong parameter

dnb_intrinsic_calibration

[1.0.0] 2023-03-31

Changed

  • Changed release version management

dnb_vision_interface

[1.0.0] 2023-03-31

Changed

  • Changed release version management

dnb_extrinsic_calibration

[1.0.0] 2023-03-31

Changed

  • Changed release version management

dnb_ketop_variable_client

[1.0.0] - 2023-03-31

Changed

  • Changed release version management
  • Merge the KeTop Modbus driver.
  • Fix some while loops not exit during shutdown

dnb_ketop_modbus

[1.0.0] - 2023-03-31

Changed

  • Changed release version management
  • Merge the driver with the keba_ketop driver in one repo
  • Adapt the launch file to stop the I/Os interface and to activate the KeTop interface automatically.
  • Adapt the rosservice and rostopic names to match the ketop node.
  • Make the driver able to work without IOs.
  • Fix some bugs with the IOs number.

dnb_component_manager

[1.7.0] - 2023-03-31

Removed

  • Removed component whitelist check, now always available
  • Removed developer mode check, now always available

Changed

  • Changed release version management

dnb_ros_mqtt

[1.3.0] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_fanuc

[1.7.0] - 2023-04-03

Added

  • CRX-10iA/L robot model

Changed

  • Swapped loop_rate.sleep() and spinOnce for better performance.
  • Changed release version management

robot_movement_interface

[1.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_tf

[1.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_staeubli

[1.0.0] - 2023-04-03

Changed

  • Changed release version management

dnb_virtual_walls

[1.0.0] - 2023-03-31

Changed

  • Changed release version management

pylon_camera

[1.0.0] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_nachi

[1.5.0] - 2023-04-17

Changed

  • CP translation step for mz01 increased from 1 to 2 cm
  • Changed release version management
  • Reduced prints about sent commands to controller in case the command is sent repeatedly.
  • Set initial values of RobotStatus to false for automatic_mode, robot_moving, em_stop, motion_possible, drives_powered, execution_error, communication_error.

Fixed

  • Fixed issues related to not reliable motion possible state.
  • Fixed an issue related to joint delta movements with very small deltas.
  • Fixed a bug which showed an error at driver startup, when the robot system was in KEBA teach mode.

interactive_marker_proxy

[0.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_krc4

[1.4.0] - 2023-03-31

Changed

  • Changed release version management

usb_cam

[0.4.0] - 2023-03-31

Changed

  • Changed release version management

dnb_balluff_camera

[1.2.0] - 2023-04-03

Changed

  • Changed release version management

dnb_driver_meca500

[1.3.0] - 2023-03-31

Changed

  • Changed release version management

tf2_web_republisher

[0.3.2] - 2023-03-31

Changed

  • Changed release version management

robotiq_c_model_control

[1.0.0] - 2023-03-31

Changed

  • Changed release version management
  • Migration to pyModbus V3.x.

dnb_ros_driver_kemrox

[1.0.0] - 2023-04-03

Added

  • Added support for KemroX 4.5.0
  • Added HIWIN RA605-710 kinematic

Changed

  • Changed release version management

denso_drivers

[1.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_ik

[1.3.0] - 2023-03-22

Added

  • IK for ABB IRB1300-11/0.9
  • IK for ABB IRB1300-10/1.15
  • IK for ABB IRB1300-7/1.4
  • IK for ABB IRB1300-12/1.4
  • IK for ABB IRB1100-4/0.58
  • IK for ABB IRB1100-4/0.475
  • IK for HIWIN RA605-710
  • IK for Fanuc CRX-10iA/L
  • IK for Comau Racer 7-1.4

Changed

  • Changed release version management

web_video_server

[0.2.2] - 2023-03-31

Changed

  • Changed release version management

dnb_driver_yaskawa

[1.4.0] - 2023-03-31

Changed

  • Changed release version management

dnb_executor

[2.3.0] - 2023-03-31

Added

  • Added ROS service to update the cache of installed programs

Changed

  • Changed release version management

dnb_collision_detection

[1.2.0] - 2023-03-31

Changed

  • Changed release version management

dnb_actionizer

[1.0.0] - 2023-03-31

Added

  • First version of C++ Actionizer

Changed

  • Changed release version management

dnb_grid_manager

[1.8.0] - 2023-03-31

Added

  • Added orb_scale, line_scale, z_offset, markers_grid_frame, markers_grid_content, markers_grid_strategy parameters to grid file. Changes to the file require the robot system to be restarted.
  • Added saving grids in databaseat initialization
  • Added loading of saved grids from database at startup
  • Added removing saved grid file at deletion

Changed

  • Changed release version management

Fixed

  • Grid Status was not shown correctly for Grid - Set Cell Content Function Block
  • Grid Frame was not broadcasted reliably, if two grids were initialized directly after another

Removed

  • Removed global orb_scale, line_scale and z_offset parameters and their ROS services

dnb_io_gripper

[1.4.0] - 2023-04-03

Added

  • Added 'Scenario Attach/Detach Frame' option in the component to configure, where to attach / detach moveable simulated objects to/from.

Changed

  • Improved cycle time performance, combining the set I/O service calls into one call and packing the asynchronous executor status callback into a second thread.
  • Changed release version management

dnb_frame_manager

[1.5.0] - 2023-03-31

Added

  • Added notification server to notify about changed system transformations with services and topics

Changed

  • Changed release version management

dnb_driver_abb

[1.3.0] - 2023-04-03

This features require to update the controller program to Controller SW V2.0 for IRC5 Controllers, but the old controller files still work with the driver not containing the changes and fixes.

This features require to update the controller config files to Controller SW V2.0 for IRC5 Controllers, but the old controller files still work with the driver not containing the changes and fixes.

This features require to use the controller program Controller SW V2.0 for Omnicore Controllers.

This features require to use the controller config files Controller SW V2.0 for Omnicore Controllers.

Added

  • Added IRB1300-11/0.9 robot model for Omnicore Controllers
  • Added IRB1300-10/1.15 robot model for Omnicore Controllers
  • Added IRB1300-7/1.4 robot model for Omnicore Controllers
  • Added IRB1300-12/1.4 robot model for Omnicore Controllers
  • Added IRB1100-4/0.58 robot model for Omnicore Controllers
  • Added IRB1100-4/0.475 robot model for Omnicore Controllers
  • Added clearing of errors
  • Added error code table
  • Added controller program for Omnicore Controllers
  • Added controller config files for Omnicore Controllers
  • Added commands and service to de-/activate handguide mode for Omnicore Controllers
  • Added controller IRC5 configuration files for KeTop usage

Changed

  • Changed that G-Stop error is now hidden to avoid confusion.
  • Adjusted controller IRC5 DNB_control task to work like the respective Omnicore task
  • Adjusted driver to also work with Omnicore Controllers
  • Changed release version management

Fixed

  • Fixed accidental skipping of movements with high CPU loads for IRC5 and Omnicore Controllers.

dnb_driver_epson

[1.6.0] - 2023-03-31

Changed

  • Changed release version management

dnb_toolmanager

[1.2.0] - 2023-03-31

Added

  • Added notification server to notify about changed tools with services

Changed

  • Changed release version management

dnb_file_manager

[1.3.0] - 2023-03-31

Changed

  • Changed release version management

dnb_remote_robot_control

[1.3.0] - 2023-03-31

Added

  • Added service for activating/deactivating control panel. Added info message

Changed

  • Changed interactive markers node to C++
  • only rotation check depending also on speed slider
  • deltas depending on current speed
  • Changed release version management

zimmer_grippers

[1.5.0] - 2023-03-31

Changed

  • Changed release version management
  • Migration to pyModbus V3.x.

dnb_driver_ur

[1.7.0] - 2023-03-31

Changed

  • Changed release version management

2.1.0 - 2022-12-01

dnb_datastore

  • Improving performance by seperating the file handler into a thread
  • Adapted logging in success cases

dnb_driver_abb

  • Changed all robots to CPv3

dnb_executor

  • Ignore modifier error in the first iteration

dnb_grid_manager

  • Added result_code for SetGridContent srvs
  • Added that grid content is shown instead of processing state
  • Fixed that set-grid-content service did not respect existing datastore values

dnb_keba_modbus

  • Default behavior is now 2nd + Rectangle-Button for refreshing the UI. Can be toggled inside the code.

dnb_rmi_library

  • Fixed exception of required time parsing in ErrorCodeManager
  • Removed only message packages from CATKIN_DEPENDS
  • Added required time for error reset

dnb_robot_movement_interface

  • Added toast message interface for components

dnb_robot_simulator

  • Added dnb_msgs dependency

dnb_ros_common

  • Added missing error_code to grid_reset FB
  • Added Grid - Visualization Settings FB

dnb_ros_driver_ur

  • Added the required time to reset an error
  • Fix the remote-local checking for e-series below V5.6
  • Fix some Dashboard commands not supported by old controller
  • Remove the error code in case of safeguard caused by KeTop manual mode

dnb_ros_driver_nachi

  • Removed support for 3.x controller sw version wildcard
  • Refactored communication to Nachi Controller
  • Performance tests

dnb_ros_kemrox_variable_client

  • Added publishing of non-io-variables of APPL.Application.GVL_DNB namespace to the topic /kemrox_variable_client/variables
  • Fixed reauth after token expires after 3600s

dnb_ros_remote_robot_control

  • Increased heartbeat timeout to 333 ms
  • Prevented for interactive markers that subscribed messages with nan numbers are processed.

2.0.9 - 2022-10-17

(NEW) dnb_virtual_walls

  • Now virtual walls can be included into the Scenario Designer, where the robot will stop before entering one.

dnb_collision_detection

  • Fixed deactivation of collision checking in actionizer at component shutdown

dnb_component_manager

  • Increased stop component timeout from 2 seconds to 30 seconds. Will lead to a clean shutdown for components of drag&bot.

dnb_keba_modbus

  • Moved ketop_status.msg to dragandbot_common

dnb_rmi_library

  • Added that ErrorCodeManager can also clear errors, to show more information of errors in drag&bot STUDIO

dnb_robot_simulator

  • Added error code table
  • Added error code information

dnb_ros_common

  • Added FB 'Integer to float'

dnb_ros_driver_kemrox

  • Added COMAU Racer 5-0.63 model
  • Added COMAU Racer 7 model
  • Minor fix for robot status
  • Reduced condition to show wrong configured controller to be only init on main_robot_state and path_execution_state
  • Made driver flexible for Scara and 6axis kinematics
  • Added warning in case controller continuously sends init messages on status channel.
  • Added usage hint to readme in case of overlay
  • Added CM Status publishing depending on connection status

dnb_ros_driver_nachi

  • Added support for ErrorCodeManager
  • Adjusted because ErrorCodeManager provides now also ability to clear errors
  • Adjusted Controller Settings
  • Adjusted PLC program to not auto resetting errors
  • Removed ReduceSpeed rung in PLC program by default
  • Added changes for safe teaching
  • Fixed a bug, which might prevent Control Panel movements from starting
  • Fine tuned Control Panel delta rotations to work better with tools
  • Added header line to error code table; removed comma

dnb_ros_driver_ur

  • Major refactoring to use only the primary connection to the UR

dnb_ros_kemrox_variable_client

  • Minor fix for component status'
  • Added CM Status publishing depending on connection status
  • Added publishing of component status running
  • Fixed node name for Component Status Publisher
  • Fixed Component Status Publisher init

2.0.7 - 2022-09-02

dnb_datastore:

  • Added get_values service

dnb_keba_modbus

  • Added F1, F2 keys to ketop_information topic
  • Added Deadman switch, manual mode, auto mode status to the KeTop topic
  • Added service to set jog mode

dnb_robot_simulator

  • Teach mode doesn't set robot to error anymore. E-Stop set motion possible and drives powered
  • Added error toggle to simulate error states

dnb_ros_common

  • Added Get Timestamp FB; adjusted Changelog
  • Added csv FBs
  • Added quick access move creation FBs
  • Added datastore check boolean and io check FBs
  • Added create_robot_tcp FB and io set display title FB
  • Added Pose Checker Box - Complex FB and Markers - Show Box - Complex FB
  • Moved compare pose/joints to control&logic
  • Moved pose checker box FBs from robot to math
  • Fixed casting in pose checker box complex
  • Fixed breaking topic messages for KeTop wireless when reconnecting
  • Removed accidentally added complex box FBs

dnb_ros_driver_denso

  • Added old IO FBs, which are only applicable Denso

dnb_ros_driver_kuka_iiwa

  • Added old IO FBs, which are only applicable for IIWA

dnb_ros_driver_nachi

  • Adjusted CP LIN delta values for MZ01
  • Exchanged precompiled controller files by uncompiled files for controller upload
  • Increased controller program version to 3.2
  • Updated controller upload files
  • Simplified PLC and usertasks
  • Adjusted version and made version check more flexible
  • Adjusted build numbers for changed usertasks
  • Reduced PLC program and added third USertask instead
  • Added setting to not jump the robot after stop recovery
  • Increased timeout on servers and plc program

dnb_ros_driver_ur

  • Updated launch file with control panel v3
  • Added prints, when connection is recovered
  • Changed spinning rate to 30Hz
  • Limited realtime socket processing rate to 30Hz

dnb_weiss_wsg50

  • module.yaml fixed component not changing to error when ran successfully

2.0.6 - 2022-06-21

(NEW) dnb_collision_detection BETA

  • Added a module to visualize the moved path of the TCP of a robot.
  • Added a module to predict collision based on the 3D environment from the Scenario Designer
  • Added a module to forecast the movement and visualize it based on runtime data.

dnb_driver_yaskawa

  • Added HC20DTP robot

dnb_executor

  • Fix: Program names only consisting of numbers are now executable
  • Fix for programs without units
  • Added unit conversion when output and input have a unit field
  • When E-Stop is pressed during robot execution the whole program is cancelled and stopped

dnb_io_gripper

  • Fix: Crash in FB IO Gripper - Check Gripped

dnb_quick_access_poses

  • Fix: Save a qap with the same name

dnb_rmi_library

  • Added stop_on_input to ControlCommandParser

dnb_ros_common

  • Fixed an issue in Digital I/O Device - Wait For if the service call failed. Could lead to random errors when waiting for a longer time period.

dnb_ros_driver_nachi

  • Changed controller interface version back to 3.0
  • Added move until input via additional commands
  • Changed waiting at several waypoints to skip waiting until movement has started
  • Added flag to communication to delay the movement start until the next command was loaded

2.0.5 - 2022-05-06

dnb_launcher

  • Fixed logging with threshold

dnb_component_manager

  • Vision component only added once with any new camera added, can be removed
  • Refactoring: Added a system to deal with node_id as dict or list

dnb_datastore

  • Added error in case type is not matching for setting a value
  • Datastore Counter and Set Integer is now using datatype integer instead of int
  • For downward compatibility: Callback is allowing setting datatype int when integer is required
  • On startup migrates old datastore entries

dnb_driver_cognex

  • Added debug flag: Remove exception in case of no object detected

dnb_driver_epson

  • Improvements in the connection and state handling
  • Fixed \r\n check

dnb_executor

  • Including skill ID when switch block failed with error

dnb_ik

  • Added that trajectory conversion also returns the poses of all joint states

dnb_io_gripper

  • Added Acknowledgement Modes
  • Minor improvements
  • Added Digital I/O Device Grippers 3 and 4

dnb_modbus_interface

  • Added read input registers and coils from MODBUS server

dnb_quick_access_poses

  • Fixed pose and program deletion

dnb_robot_simulator

  • Added Move-To-Position toggle for simbot
  • Added service to toggle simulated e_stop

dnb_ros_common

  • Adjusted translation of other FBs, which are also conversions
  • Added MISMATCHING_TYPE exception to Datastore Set Value FBs

dnb_ros_driver_fanuc

  • Fixed and updated collision meshes and URDFs

dnb_ros_driver_nachi

  • Fix: Robot does not stop in some cases when moved by control panel
  • Clear error button is shown in Studio in case of controller error
  • Updated compiled version of controller program
  • Fixed command server freeze fix and added file version numbers to all files
  • Added Estop to reset ResetDone in PLC Program
  • Removed WAITI in soft_stop as it may cause the command server to not continue
  • Changed speedlimit for lin from default 1.5m/s to 5m/s
  • Added verifying of controller program version and stop function if version is not supported
  • Added verification that movement was actually started
  • Added that hard stop is sent after soft stop, if robot does not stop within one second

dnb_ros_driver_ur

  • Standardized robot data publishing and speed scale publishing

2.0.4 - 2022-02-17

dnb_ros_driver_fanuc

  • Fixed and updated collision meshes and urdfs

dnb_ros_driver_nachi

  • Fixed acceleration control for NACHI robots

2.0.3 - 2022-02-07

dnb_ros_driver_fanuc

  • Fixed FB Fanuc Move Until Digital I/O after migration

2.0.2 - 2022-01-20

Migration to noetic

  • Migration of all drag&bot packages to support ROS noetic version

dnb_driver_epson

  • Minor log change to DEBUG
  • Fix boost library calls

dnb_driver_yaskawa

  • Minor log change to DEBUG

dnb_dynpick_driver

  • Fixed ros dependencies for noetic

dnb_executor

  • Speed up executor functions to increase performance
  • Fixed: Duplicate program loading when robotsystem is restarted
  • Fast validation, lazy loading of function block scripts
  • Change function return now a copy of the program and not the same object

dnb_ik

  • Fix: Joint 3 axis limits from specs for all NACHI robots

dnb_robot_simulator

  • Fixed wrong configured joint 3 axis limits from specs for all NACHI robots

dnb_robotiq

  • Added ROS checking and sleep to the reading loop

dnb_ros_common

  • Added FB to hide/show objects

dnb_ros_driver_fanuc

  • Move-To-Position with toggle between LIN/PTP config added
  • Added configuration for Move-To-Position with LIN for all robots
  • Added controller compilation for version 9.30'

dnb_ros_driver_kuka_iiwa

  • Extended the driver sim commands and make it compatible with the latest driver
  • Changed the free movement interface between the FB and the driver to avoid the tool manager checking

dnb_ros_driver_staeubli

  • Removed flange from all URDFs

dnb_ros_driver_ur

  • Removed wrong frame ee_link from all xacros

dnb_ros_remote_robot_control

  • Added toggle of commands between LIN and PTP cartesian goal commands

1.7.1 - 2021-11-09

dnb_datastore

  • Optimized read/write time to improve cycle time

dnb_driver_abb

  • Added kinematic_model parameter

dnb_driver_epson

  • Added kinematic_model parameter

dnb_driver_yaskawa

  • Added kinematic_model parameter

dnb_rmi_library

  • Changed Component Status publisher to non-latching

dnb_ros_common

  • Added Move Joints Relative function block
  • Added custom options to datastore delete group block
  • Fixed Pose Checker - Box - Relative: Fixed check of y_min
  • Fixed Grid-Manager Get Next Cell bug for trajectories length differ
  • Removed blending and add to waypoint queue from Move Cartesian Relative function block

dnb_ros_driver_denso

  • Added kinematic_model parameter

dnb_ros_driver_fanuc

  • Doubled cycle rate
  • Added kinematic_model parameter

dnb_ros_driver_krc4

  • Added kinematic_model parameter

dnb_ros_driver_kuka_iiwa

  • Added kinematic_model parameter

dnb_ros_driver_meca500

  • Added /tool0 frame to urdf
  • Removed function block Move to safe pose and added Move to transport and Move to home
  • Added kinematic_model parameter

dnb_ros_driver_staeubli

  • Removed /flange from all urdfs
  • Added kinematic_model parameter

dnb_ros_driver_ur

  • Removed wrong frame /ee_link from all xacros
  • Added kinematic_model parameter

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