Release Notes: Runtime 1.7.1 and before
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
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
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
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
Fixed waiting until tool is listened after changing the tool
dnb_vision_common
Fixed rotation direction of localized patterns
dnb_weiss_wsg50
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
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
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
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
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
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
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
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
Replace robot on the fly is now possible
dnb_weiss_wsg50
zimmer_grippers
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