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v1.0

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@pzhu-flexiv pzhu-flexiv released this 08 May 16:52
v1.0
52043d1
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Learn about vigilant mode.

COMPATIBILITY

  • Internal pre-release

ADD

  • Upgrade to DDS based communication framework.
  • Add real-time communication QoS.
  • Add RPC-over-DDS.
  • Add IP-less server discovery.
  • Add support to set velocity scale for Robot::executePrimitive() and Robot::executePlan().
  • Add option to make Robot::isOperational() verbose and print detailed reasons why the robot is not operational.

CHANGE

  • Optimize network bandwidth consumption.
  • Improve check logic of timeliness monitor.
  • Change Robot::writeDigitalOutput() and Robot::readDigitalInput() to handle all ports at once.
  • Replace exception with warning in Robot::enable() if E-Stop is not released.
  • Re-write delivery logic of non-real-time commands to avoid undesired behaviors.
  • Improve CMake installation interface.
  • Increase clang-format column limit from 80 to 100.
  • Rename "operation mode" to "control mode".
  • Change digital IO data communication from non-real-time asynchronous to real-time synchronous.

KNOWN ISSUE

  • Robot::startAutoRecovery() is temporarily not working
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