Flexiv ROS 2 Jazzy 1.8

COMPATABILITY

• Flexiv robot software v3.10
• Flexiv RDK v1.8
• ROS 2 Jazzy

ADD

• Initial release of Flexiv ROS 2 Jazzy
• Add launch parameter rdk_control_mode to specify the RDK control mode of the ROS 2 joint position interface.

CHANGE

• Update RDK submodule to v1.8 [Flexiv RDK 1.8].
• Enable acceleration limits for all joints in joint_limits.yaml.
• Remove joint_impedance_controller in flexiv_controllers.
• Remove sine-sweep position and impedance examples in flexiv_test_nodes.
• Update README.

FIX

• Remove input parameter accelerations of RDK Robot::SendJointPosition().
• Remove unnecessary sleep calls during activation and deactivation in flexiv_hardware_interface (#49).

Flexiv ROS 2 Humble 1.8

COMPATABILITY

• Flexiv software package v3.10
• Flexiv RDK v1.8
• ROS 2 Humble

ADD

• Add launch parameter rdk_control_mode to specify the RDK control mode of the ROS 2 joint position interface (#51).
• Add Flexiv FT03 wrist sensor support for Rizon4, Rizon4R and Rizon10 models (#47).

CHANGE

• Update RDK submodule to v1.8 [Flexiv RDK 1.8].
• Remove joint_impedance_controller in flexiv_controllers.
• Remove sine-sweep position and impedance examples in flexiv_test_nodes.
• Update README.

FIX

• Remove input parameter accelerations of RDK Robot::SendJointPosition().
• Remove unnecessary sleep calls during activation and deactivation in flexiv_hardware_interface (#49).

Flexiv ROS 2 Humble 1.7

COMPATABILITY

• Flexiv software package v3.9
• Flexiv RDK v1.7
• ROS 2 Humble

ADD

• Update flexiv_description with added support of Rizon 4M and 4R.

CHANGE

• Update RDK submodule to v1.7 [Flexiv RDK 1.7]
• Set robot serial number robot_sn as the default prefix to the robot joint and link names (#45)
• Update flexiv_description Rizon robots' mesh files.
• Update launch files to delay rviz and move_group starts after robot_controller_spawner.
• Update README.

FIX

• flexiv_controllers: Fix include paths for robot states and GPIO controller parameters

Flexiv ROS 2 Humble 1.6

COMPATABILITY

• Flexiv software package v3.8
• Flexiv RDK v1.6
• ROS 2 Humble

ADD

(None)

CHANGE

• Update RDK submodule to v1.6 [Flexiv RDK 1.6]
• Add gripper_name parameter to flexiv_bringup launch files. The default gripper is Flexiv Grav (Flexiv-GN01).
• Update gripper_action_server to use the updated RDK Gripper::params() and rdk::GripperParams struct.
• Remove tcp_pose_des in RobotStates.msg and remove the corresponding publisher in flexiv_robot_states_broadcaster
• Update fastrtps dependency to version 2.6.7 in flexiv_hardware package.
• Update README.

FIX

• Update realtime_tools deprecated headers to use .hpp

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.