Release Notes: Runtime 2.0.9

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