Skip to content

Release Notes: Runtime 2.3.0

2.3.0 - 2023-04-24

dnb_actionizer

[1.1.0] - 2023-10-19

Added

  • Added support for tcp selection for each waypoint as part of additional parameters

Fixed

  • Fixed issue, which randomly caused movements accidentally to be marked as failed

dnb_bringup

[0.3.0] - 2023-10-20

Changed

  • Replaced launching of old python actionizer by new C++ actionizer

dnb_cognex_camera

[1.4.0] - 2023-10-16

Changed

  • Function Block "Cognex - Trigger Job": Adjusted default value for calibration

dnb_component_manager

[1.8.0] - 2023-10-16

Fixed

  • Fixed that deactivated components were still considered for robot system status, if they were in error or stopped

dnb_datastore

[2.5.0] - 2023-10-19

Added

  • Added bidirectional synchonization to external data sources.
  • Added ROS service "set_hidden"
  • Added ROS service "change_item_group"
  • Added ROS service "delete_unused_external_values"
  • Added ROS service "register_external_source"
  • Added ROS publisher "external_changes"
  • Added ROS subscriber "external_states"
  • Added publishing of entry changes to topic "datastore_changes"

Fixed

  • Fixed that 'int' is not automatically converted to 'integer' for set_type service

Removed

  • Removed continuous_data topic subscriber (it is replaced by external data sources)
  • Removed do_not_save_to_db flag from DatastoreItem message and its functionality
  • Replaced cp_hidden flag in DatastoreItem message by hidden flag.

dnb_driver_abb

[1.4.0] - 2023-10-19

Important

  • This features require to update the controller program to Controller SW V2.4 for IRC5 Controllers, but the old controller files still work with the driver not containing the fix.
  • This features require to update the controller program to Controller SW V2.4 for Omnicore Controllers, but the old controller files still work with the driver not containing the fix.

Added

  • Added IRB1100 robot models with bottom connector
  • Added IRB1300 robot models with bottom connector
  • Added CRB15000-10/1.52 robot model for Omnicore Controllers
  • Added CRB15000-12/1.27 robot model for Omnicore Controllers
  • Added configuration for pausing and resuming robot motion via digital I/O

Changed

  • Increased controller communication timeout to 3sec, to avoid aborting of communication, just because the controller is a bit too busy
  • Increased driver communication timeout to 3sec, to avoid aborting of communication, just because the driver is a bit too busy
  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory

Fixed

  • Fixed blending for PTP movements
  • Fixed unwanted starting of motors in case there is an error already at controller startup time
  • Removed "motion not possible" as condition for a fake error

dnb_driver_epson

[1.7.0] - 2023-10-19

Changed

  • Reduced used mesh sizes for C3-A600S robot model
  • Moved original meshes to meshes_raw directory

dnb_driver_fanuc

[1.8.0] - 2023-10-19

Important

  • Using this changes requires to update the controller program and repeat the controller setup process, but the old controller program still works with the driver.

Added

  • Added a flag to not start the drag&bot controller program

Changed

  • Changed the controller program to use registers 200-300, pose registers 100 to 105 and flags 100 to 115
  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory

dnb_driver_kemrox

[1.1.0] - 2023-10-19

Added

  • Added support for KemroX 4.6.0
  • Added Kawasaki RS007N kinematic
  • Added DevAdmin credentials username and password to component parameters.

Changed

  • Renamed services power_robot and unpower_robot and let the driver respect the user chosen state
  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory
  • Integrated REST client in driver ROS node

Fixed

  • Fixed a bug that did not stop movements immediately, if stop was called

dnb_driver_kuka_iiwa

[1.5.0] - 2023-10-19

Changed

  • Reduced used mesh sizes for IIWA robot model
  • Moved original meshes to meshes_raw directory

dnb_driver_kuka_krc4

[1.5.0] - 2023-10-19

Added

  • Added support for KRC5

Changed

  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory

Removed

  • Remove KR10 APAS robot model

dnb_driver_meca

[1.4.0] - 2023-10-19

Changed

  • Reduced used mesh sizes
  • Moved original meshes to meshes_raw directory

dnb_driver_nachi

[1.6.0] - 2023-10-19

Important

  • This feature requires at least Controller Firmware Version V5.01, older controller firmware versions do still work, but updating the controller files has no effect in this case.
  • This feature requires to update the controller program to Controller SW V4.1, but the old controller files still work with the new driver not containing the change.
  • This feature requires to update the controller plc program to Controller SW V4.1, but the old controller files still work with the new driver not containing the change.
  • This feature requires to update the controller config files to Controller SW V4.1, but the old controller files still work with the new driver not containing the change.

Added

  • Added controller config files for CFDS controller.

Changed

  • Error 2518 "Step number not designated" will be resolved automatically, when clearing the error.
  • Increased sensitivity for robot being "in-motion".

Fixed

  • Fixed Control Panel LIN goal movements sometimes not correctly started

dnb_driver_staeubli

[1.1.0] - 2023-10-19

Changed

  • Reduced meshes of TX90 robot models
  • Moved original meshes to meshes_raw directory for all robots

dnb_driver_ur

[1.8.0] - 2023-10-19

Changed

  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory
  • Improve the tuning of the control panel cartesian movements.

dnb_driver_yaskawa

[1.5.0] - 2023-10-19

Changed

  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory

dnb_executor

[2.4.0] - 2023-10-16

Added

  • Logs in case of program abort due to component status or robot status

Changed

  • Empty 'refTo' sink references are now ignored when empty

dnb_fb

[2.2.0] - 2023-10-19

Added

  • Added Function Block "Datastore - Change Group"
  • Added Function Block "Digital I/O Device - Set Categories"
  • Added Function Block "Digital I/O Device - Clear Categories"
  • Function Block "Math - Integer": Added exponent function
  • Function Block "Math - Float": Added exponent function

Changed

  • Function Block "CSV - Read Cell": Changed default value of filename parameter to be empty
  • Function Block "CSV - Search Column": Changed default value of filename parameter to be empty
  • Function Block "CSV - Search Column": Changed default value of text parameter to be empty string
  • Function Block "User Dialog": Changed default value of message parameter to be empty string
  • Function Block "User Message": Changed default value of message parameter to be empty string
  • Function Block "User Text Input": Changed default value of message parameter to be empty string
  • Function Block "Switch Case - Match String": Changed default value of match_case parameter to be empty string
  • Function Block "Datastore - Change Group": Changed default value of new_group parameter to be empty string
  • Function Block "Datastore - Delete Group": Changed default value of group parameter to be empty string
  • Function Block "Datastore - Set Display Title": Changed default value of display_title parameter to be empty string
  • Function Block "Datastore - Set Value - String": Changed default value of value parameter to be empty string
  • Function Block "Combine - Strings": Changed default value of string_element parameter to be empty string
  • Function Block "Digital I/O - Set Display Title": Changed default value of display_title parameter to be empty string
  • Function Block "Change Robot TCP": Adjusted to be respected in waypoint queue
  • Function Block "Waypoint Queue - Move": Adjusted to respect tool changes inside waypoint queue
  • Function Block "Datastore - Set Type": Changed 'int' to 'integer'
  • Function Block "Datastore - Set Value - Boolean": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Set Value - Float": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Set Value - Integer": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Set Value - Joints": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Set Value - Pose": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Set Value - String": Added error code INVALID_ID_OR_GROUP
  • Function Block "Datastore - Counter": Added error code INVALID_ID_OR_GROUP
  • Function Block "CSV - Read Cell": Adjusted default values for row and column
  • Function Block "CSV - Search Column": Adjusted default value for column
  • Function Block "Grid - Set Cell Content": Adjusted default values for row, column and layer
  • Function Block "Compare - Boolean": Adjusted default values
  • Function Block "Compare - Float": Adjusted default values
  • Function Block "Compare - Integer": Adjusted default values
  • Function Block "Compare - Joints": Adjusted default values
  • Function Block "Compare - Pose": Adjusted default values
  • Function Block "Condition": Adjusted default value
  • Function Block "Loop - Do While": Adjusted default value
  • Function Block "Loop - For": Adjusted default value
  • Function Block "Switch Case - Direct Input": Adjusted default value
  • Function Block "Joints Transformation": Adjusted default values
  • Function Block "Joints Create Robot TCP": Adjusted default values

Fixed

  • Function Block "Convert - Float to Integer": Fixed casting for floating point numbers

dnb_human_interaction

[0.3.0] - 2023-10-20

Added

  • Added hide_close_button flag to UserInformation message
  • Resetting all blocking hmi requests on executor result messages

dnb_ik

[1.4.0] - 2023-10-16

Added

  • Added Kawasaki RS007N kinematic
  • Added ABB CRB15000-10/1.52 kinematic
  • Added ABB CRB15000-12/1.27 kinematic

Removed

  • Removed KUKA KR10 APAS kinematic

dnb_kemrox_variable_client

[1.3.0] - 2023-10-19

Added

  • Added providing custom KemroX variables as external data to the datastore.
  • Added DevAdmin credentials username and password to component parameters.

Changed

  • Refactored communication to Variable Server for better reconnection after communication breakdown
  • Integrated REST client in Variable client ROS node
  • Changed from KemroX REST interface v3 to v4

dnb_msgs

[1.1.0] - 2023-10-16

Added

  • Added ROS message DatastoreExternalEntry.msg
  • Added ROS message DatastoreExternalSourceUpdate.msg
  • Added ROS service ConfigureDatastoreExternalSource.srv

dnb_object_simulation

[1.5.0] - 2023-10-16

Added

  • Added service to set model transparency

dnb_remote_robot_control

[1.4.0] - 2023-10-16

Fixed

  • Fixed sent flange orientation for virtual walls

dnb_rmi_library

[1.8.0] - 2023-10-25

Added

  • Added categories to IOs and services to the IOManager class to interact with them
  • Added ExternalDatastoreSource to provide external data to the datastore
  • Added utility function 'remove_not_allowed_chars' to remove unallowed characters from a string
  • Added external trigger subscriber to NotificationServer

Fixed

  • Fixed returning of wrong error code for Service robot/set_digital_ios in case IO does not exist.

Removed

  • Removed compile warning for TCPStringSocket and TCPByteSocket

dnb_robot_movement_interface

[1.3.0] - 2023-10-25

Added

  • Added categories field to IOInfo message type
  • Added GetCategoryIOs service type
  • Added GetIOCategories service type
  • Added SetIOCategories service type

dnb_robot_simulator

[1.7.0] - 2023-10-19

Added

  • Added services power_robot and unpower_robot to change the simulated powered state of the robot.
  • Added Kawasaki RS007N kinematic
  • Added KUKA APAS KR10 R1100-2 kinematic

Changed

  • Reduced used mesh sizes for all robot models
  • Moved original meshes to meshes_raw directory

Fixed

  • Fixed that E-Stop, Robot-not-ready situations, etc. were not correctly handled during movement.

Removed

  • Remove KR10 APAS robot model

Changed

  • Activated throttling of published robot topics to 20Hz

dnb_robotiq_gripper

[1.1.0] - 2023-10-16

Fixed

  • Fixed pymodbus library version to 3.0.2 to work with usb devices

Changed

  • Reduced used mesh sizes for all grippers models
  • Moved original meshes to meshes_raw directory

dnb_robotkit

[1.3.0] - 2023-10-19

Changed

  • Reduced used mesh sizes for all 3D models
  • Moved original meshes to meshes_raw directory

Removed

  • Robots 3D models as it's not used in this package.

dnb_tool_manager

[1.3.0] - 2023-10-16

Added

  • Added broadcasting of all tools from the database as dnb_tools_* frames

dnb_virtual_walls

[1.1.0] - 2023-10-16

Added

  • Objects change color opacity when in collision

dnb_zimmer_gripper

[1.6.0] - 2023-10-25

Changed

  • Reduced used mesh sizes for all grippers models
  • Moved original meshes to meshes_raw directory

tf2_web_republisher

[0.4.0] - 2023-10-16

Fixed

  • Refactored and simplified tf2_web_republisher internally to fix memory leak.