Changelog¶
Release 1.5¶
Version 1.5.0 (August 2022)¶
- Added example maps
- OPCUA:
- open62541 update to v1.3.2
OPC_UA_Server
custom host name and variables- open62541 as shared library
- added subscriptions to
OPC_UA_Proxy
- more settings for opcua server and proxy
OPC_UA_Proxy
proper disconnect on error and client renewal- Server authentication
- Added Dockerfile creation
GlobalCostMap
takes additional cost points- LUA functions and blocks for map switching
- Implemented map storage in
MapServer
- Added some useful polygon methods
- Added areas to map match
- Included radar scan into local costmap
- Added basic aircontrol binary
- Added
get_pilot_version
method toPilotServer
- Added roadmap adjacency hash
- Added radar scan to virtual scan
- Added default configuration for MP-500
- Setting
ulimit
automatically - Node for RelayboardV3
- HttpServer blocking fix
- Added shortcut to access the documentation
- Added remote joystick tool
pilot_joystick
TaskHandler
fixed publishing volatile execution state- Omnidrive kinematics with arbitrary number of drives
- Splitted
PowerState
andRelayBoardData
fromSystemState
- Full support for ARM64 (e.g. Jetson Nano)
- Dedicated driver module for ELMO motors
- Fleet manager
Tower
implemented - GlobalPlanner using local cost map overlay by default now
- HybridPlanner can skip road map with
goal_options_t::planner_mode == FREE_ROAMING
- Terminal output on Windows can use ANSI codes or Win API
- RelayBoardNode retry charging in case no charger detected
- added RelayBoardNode
enable_charge_cycling
option - LocalPlanner no more goal shortcuts
Release 1.4¶
Version 1.4.0 (October 2021)¶
- LocalPlanner
pause()
fix for differential to keep on path - TaskHandler
execute_*()
functions now have blocking option - added TaskHandler
set_timer_ms
functionality - CanNode automatic re-init in case of persistent motor timeouts
- TaskHandler generates random jobid if not specified
- HttpProxy fix for missing LogMsg, ModuleInfo and Event topics
- CanNode fix for timeouts due to blocking publishes
- CanNode fix for timeout feedback loop in homeing procedure
- SerialPort fix for blocking publish
- added PlatformInterface read_analog_input() + read_digital_input() functions
- added TaskHandler read_analog_input() + read_digital_input() functions
- added TaskEditor read_analog_input + read_digital_input blocks
- added TaskEditor map / object support
- fixed TaskEditor display regression when switching views
- Added RoadMapPlanner
find_closest_station()
- Added LUA
find_closest_station_name()
- Added TaskEditor
find_closest_station
block (which returns station name)
Release 1.3¶
Version 1.3.0 (August 2021)¶
- Added OPC-UA Client/Server certificate support
- Added LUA functions and corresponding TaskEditor blocks:
is_chargig()
get_battery_remaining()
reset_motors()
- Added
Event::level
to allow sorting by low/high level events. wait_for_joystick()
waits for activation nowLaserCalibration
now also calibrates sensor X/Y position- Added RealSense2 support
- LFP battery charge auto cycling between 90 and 100 % (see
RelayBoardNode::battery_type
config) - Added
SystemState::is_charging
Release 1.2¶
Version 1.2.0 (June 2021)¶
- New
HttpServer
implementation, no longer using libmicrohttpd.- Supports Server-Sent-Events (SSE), via
/api/stream/...
- Deflate response compression (multi-threaded)
- Asynchronous chunked transfers
- Supports Server-Sent-Events (SSE), via
localization.status
topic is also being recorded now.- New
LocalPlanner
functions:await_goal()
,await_goal_ex(...)
,cancel_goal_await()
LocalPlanner::pause()
now has an optionalbool em_stop
parameter to enable emergency stopping.- OPC-UA write variable support via
Proxy::write_variable()
andProxy::write_object_variable()
. TaskHandler
now supports script parameters viaexecute_file()
andexecute_program()
which are passed on to themain(...)
function in LUA.- Sending a new goal while driving works as expected now, planners wait for platoform to stop before planning new path.
Kinematics_CanNode
fix for CAN bus initialization, now attempts to re-initialize until successful.- New
TaskHandler
functions:get_time_sec()
,get_time_millis()
,get_time_micros()
HttpSession
now containssession_timeout
as well- Additional incident reporting for RelayBoard and MPO-700 homing.
SickMicroscan3
fix for reflector detection- OPC-UA Proxy authentication support via
username
andpassword
configs. TaskHandler
scripts haveREQUEST
permission nowUSER
(neo-user) hasINTERVENE_SCRIPT
permissions now