Flexiv ROS 2 Humble 1.5.1

COMPATABILITY

• Flexiv software package v3.7.1
• Flexiv RDK v1.5.1
• ROS 2 Humble

ADD

(None)

CHANGE

• Update RDK submodule to v1.5.1 [Flexiv RDK 1.5.1]
• Update the number of GPIO digital IO ports to 18 (16 on the control box + 2 inside the wrist connector)
• Remove linking to fastcdr in flexiv_hardware package.
• Update README.

FIX

(None)

Flexiv ROS 2 Humble 1.5

COMPATABILITY

• Flexiv software package v3.7
• Flexiv RDK v1.5
• ROS 2 Humble

ADD

• Add flexiv_gripper package for gripper control. (#39)

CHANGE

• Update RDK submodule to v1.5. [Flexiv RDK 1.5]
• Change ROS 2 joint position control from RDK RT to NRT function SendJointPosition().
• Update RDK API to use SetDigitalOutputs() and digital_inputs() for digital inputs/outputs control.
• Start gpio_controller node in rizon_moveit.launch.py.

FIX

• Fix flexiv_test_nodes examples to read the correct joint_states.
• Enhance digital outputs handling in FlexivHardwareInterface.

Flexiv ROS 2 Humble 1.4

COMPATABILITY

• Flexiv software package v3.6
• Flexiv RDK v1.4
• ROS 2 Humble

ADD

• Add RDK thirdparty dependencies installation step.
• flexiv_controllers: Add flexiv_robot_states semantic components and flexiv_robot_states_broadcaster.
• flexiv_description: Add rizon10s robot support and Flexiv Rizon 10s visual and collision meshes.

CHANGE

• Update RDK submodule to v1.4. [Flexiv RDK 1.4]
• Update RDK namespace and function names.
• Replace local_ip and robot_ip input arguments with robot_sn.
• Refactor flexiv_controllers package. Remove tcp_pose_state_broadcaster and external_tcp_wrench_broadcaster controllers.
• Update Mode.msg and RobotStates.msg.
• Update Rizon URDF xacro files.
• Improve README.

FIX

• Remove camera_pose in RobotStates.msg.
• Add GPIO interfaces to Rizon10 ros2_control xacro file.

Flexiv ROS 2 Humble 0.10

COMPATABILITY

• Flexiv software package v2.11.5
• Flexiv RDK v0.10
• ROS 2 Humble

ADD

(None)

CHANGE

• Update RDK submodule to v0.10.
• Update flexiv_bringup launch files parameters.

FIX

• Fix TCP pose broadcaster orientation interface counter (#32)

Flexiv ROS 2 Humble 0.9.1

COMPATABILITY

• Flexiv software package v2.11.3
• Flexiv RDK v0.9.1
• ROS 2 Humble

ADD

• flexiv_hardware: Add fault clearing before enable robot.
• Add GPIO interface and controller.
• Add MoveIt Servo (#26) [Link]

CHANGE

• Update RDK submodule and the static library path.
• Update README with alerts.

FIX

• Fix incorrect extWrenchInBase frame_id.
• Fix joint velocity function in joint velocity control interface.

Flexiv ROS 2 Foxy 0.9

COMPATABILITY

• Flexiv software package v2.11.3
• Flexiv RDK v0.9
• ROS 2 Foxy

ADD

• flexiv_hardware: Add fault clearing before enable robot.

CHANGE

• Update RDK static library path.
• Update README with alerts.

FIX

• Fix incorrect extWrenchInBase frame_id.
• Fix joint velocity function in joint velocity control interface.

Flexiv ROS 2 Humble 0.8

COMPATABILITY

• Flexiv robot software v2.10.5 and v2.10.6
• Flexiv RDK v0.8
• ROS 2 Humble

ADD

• Add the Humble binary build for the main branch.
• Rename the main branch to humble.

CHANGE

• flexiv_bringup: Update the main launcher and the MoveIt launch files.
• flexiv_hardware: Migrate hardware interface from Foxy to Humble [Link].
• flexiv_controllers: Migrate ros2_control from Foxy to Humble.
• flexiv_description: Replace fake_components with mock_components.
• flexiv_test_nodes: Add default values for all nodes' parameters.
• Update clang-format.
• Update README.

FIX

• Set RDK static library to the correct path (#16)
• Fix Rizon 10 ROS 2 xacro file (#18)

Flexiv ROS 2 Foxy 0.8

COMPATABILITY

• Flexiv robot software v2.10.5 and v2.10.6
• Flexiv RDK v0.8
• ROS 2 Foxy

ADD

• Add Foxy binary build for the Foxy branch.
• flexiv_bringup:
  • Update rizon_controllers.yaml config file with robot states broadcasters.
  • Add force_torque_sensor_broadcaster, external_wrench_in_base_broadcaster, external_wrench_in_tcp_broadcaster and tcp_pose_state_broadcaster to start in the robot main launcher (rizon.launch.py).
• flexiv_hardware: Expose robot feedback states e.g. force torque sensor state, external TCP wrench in base and TCP frames, and TCP pose as sensor interfaces in the hardware interface.
• flexiv_controllers: Add TcpPoseStateBroadcaster and ExternalTcpWrenchBroadcaster.
• flexiv_description: Update ROS 2 control xacro file with sensors state interfaces.

CHANGE

• flexiv_hardware:
  • Update enums naming of flexiv::Mode.
  • Remove manual waiting check for the mode to be switched using Robot::getMode().
• flexiv_msgs:
  • Update Mode message.
  • Remove CartesianState, CartesianVelocity and ExternalForce messages and replace them with geometry_msgs messages in RobotStates message.
• Update README.

FIX

• Fix joint torque interface bug (#5).
• Fix joint states order in flexiv_test_nodes (#9).
• Set RDK static library to the correct path (#16).
• Fix Rizon 10 ROS 2 xacro file (#18).

Flexiv ROS 2 Foxy 0.7

COMPATABILITY

• Flexiv robot software v2.10.3 and v2.10.4
• Flexiv RDK v0.7
• ROS 2 Foxy

ADD

• flexiv_description:
  • Add URDF and mesh files for Rizon 10 robot arm.
  • Add DAE format visual mesh files.
  • Add Rizon 10 ROS 2 control xacro file.

CHANGE

• Rename Rizon URDF xacro files.
• Update README.

FIX

Flexiv ROS 2 Foxy 0.6.1

COMPATABILITY

• Flexiv robot software v2.10.1 and v2.10.2
• Flexiv RDK v0.6.1
• ROS 2 Foxy

ADD

• flexiv_bringup: Add launch parameter rizon_type
• flexiv_description:
  • Add Rizon 4s mesh files
  • Add rizon_type parameter in xacro files

CHANGE

• Rename URDF and SRDF xacro files e.g. from rizon4.urdf.xacro to rizon.urdf.xacro

FIX