Merge branch 'develop' into 'master'

v4.0.1 See merge request niryo/niryo-one-s/ned_ros_stack!266
NiryoRobotics · Feb 8, 2022 · 5c928ba · 5c928ba
2 parents 6f7532c + 8ed49a2
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diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -302,7 +302,6 @@ upload_staging_job:
   extends: .abstract_upload
 
 linkchecker_staging_job:
-  image: registry.gitlab.com/niryo/dockers/build_docs/base/v1.0.6:amd64
   stage: environment_test
   variables:
     <<: *staging_variables
@@ -341,7 +340,6 @@ upload_production_job:
   extends: .abstract_upload
 
 linkchecker_production_job:
-  image: registry.gitlab.com/niryo/dockers/build_docs/base/v1.0.6:amd64
   rules: *production_rules
   stage: environment_test
   variables:

diff --git a/README.md b/README.md
@@ -7,7 +7,7 @@ This repository contains all ROS packages used on Ned robot (Raspberry Pi 4B - U
 
 Here's a global overview of Ned ROS Stack :
 
-![Ned ros stack - global overview](https://niryo.com/wp-content/uploads/github/ned_global_overview.jpg)
+![Ned ros stack - global overview](sphinx_doc/images/stack/ros_stack_global_overview.png)
 ## How to use Ned with a graphical interface ?
 
 You can [download Niryo Studio](https://niryo.com/download/?utm_source=github) (Linux, Windows and MacOS compatible).

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-ned2_v0.6
+4.0.1
diff --git a/niryo_robot_arm_commander/package.xml b/niryo_robot_arm_commander/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_arm_commander</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
       Interface between user and Moveit! to easily control Ned (arm + tools). Validates params, checks if
       previous trajectory has not finished, ...

diff --git a/niryo_robot_arm_commander/scripts/trajectories_executor.py b/niryo_robot_arm_commander/scripts/trajectories_executor.py
@@ -79,6 +79,8 @@ def __init__(self, arm_move_group):
 
         self.__collision_detected_publisher = rospy.Publisher('~collision_detected', Bool, queue_size=10)
 
+        rospy.on_shutdown(self.stop_current_plan)
+
     def __set_position_hold_mode(self):
         """
         Stop the Robot where it is

diff --git a/niryo_robot_bringup/package.xml b/niryo_robot_bringup/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_bringup</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides roslaunch scripts to start Ned packages and initialize ROS params</description>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
   <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>

diff --git a/niryo_robot_database/package.xml b/niryo_robot_database/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
     <package format="3">
     <name>niryo_robot_database</name>
-    <version>4.0.0</version>
+    <version>4.0.1</version>
     <description>
         Handles sqlite database for the cloud
     </description>

diff --git a/niryo_robot_description/package.xml b/niryo_robot_description/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_description</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides URDF files</description>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
   <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>

diff --git a/niryo_robot_gazebo/package.xml b/niryo_robot_gazebo/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_gazebo</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Gazebo simulation for Ned</description>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
   <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>

diff --git a/niryo_robot_hardware_stack/can_debug_tools/package.xml b/niryo_robot_hardware_stack/can_debug_tools/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>can_debug_tools</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Ned's CAN debug tools</description>
   <maintainer email="c.cocquempot@niryo.com">Clement Cocquempot</maintainer>
   <license>GPLv3</license>

diff --git a/niryo_robot_hardware_stack/can_driver/package.xml b/niryo_robot_hardware_stack/can_driver/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>can_driver</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface bewteen high level ROS packages and motors on CAN bus</description>
   <maintainer email="c.cocquempot@niryo.com">Clement Cocquempot</maintainer>
 

diff --git a/niryo_robot_hardware_stack/common/package.xml b/niryo_robot_hardware_stack/common/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>common</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Gathers all utilities and absctract classes of the different models</description>
   <maintainer email="c.cocquempot@niryo.com">Clement Cocquempot</maintainer>
 

diff --git a/niryo_robot_hardware_stack/conveyor_interface/package.xml b/niryo_robot_hardware_stack/conveyor_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>conveyor_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface for dealing with conveyors</description>
   <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
 

diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp
@@ -267,7 +267,7 @@ ConveyorInterfaceCore::addConveyor()
             {
                 return res;
             }
-
+            res.status = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_FOUND;
             res.message = "no conveyor found";
         }
         else
@@ -280,7 +280,7 @@ ConveyorInterfaceCore::addConveyor()
     // on failure after three tries for both buses
     if (niryo_robot_msgs::CommandStatus::SUCCESS != res.status)
     {
-        ROS_ERROR("ConveyorInterfaceCore::addConveyor - Fail to set conveyor, message : %s, return : %d",
+        ROS_WARN("ConveyorInterfaceCore::addConveyor - Fail to set conveyor, message : %s, return : %d",
                     res.message.c_str(),
                     res.status);
 

diff --git a/niryo_robot_hardware_stack/cpu_interface/package.xml b/niryo_robot_hardware_stack/cpu_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpu_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface for CPU monitoring</description>
   <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
 

diff --git a/niryo_robot_hardware_stack/end_effector_interface/package.xml b/niryo_robot_hardware_stack/end_effector_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>end_effector_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface to manage the end effector of the robot</description>
   <maintainer email="c.cocquempot@niryo.com">Clément Cocquempot</maintainer>
 

diff --git a/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml
@@ -8,9 +8,9 @@ dynamixels:
         # assembly direction (1 or -1)
         limit_position_max: 2.089
         limit_position_min: -2.089
-        position_P_gain: 1292
-        position_I_gain: 163
-        position_D_gain: 0
+        position_P_gain: 640
+        position_I_gain: 500
+        position_D_gain: 1000
         velocity_P_gain: 0
         velocity_I_gain: 0
         FF1_gain: 0
@@ -24,9 +24,9 @@ dynamixels:
         direction: -1
         limit_position_max: 1.049
         limit_position_min: -1.919
-        position_P_gain: 1292
-        position_I_gain: 13
-        position_D_gain: 0
+        position_P_gain: 640
+        position_I_gain: 500
+        position_D_gain: 1000
         velocity_P_gain: 0
         velocity_I_gain: 0
         FF1_gain: 0
@@ -40,7 +40,8 @@ dynamixels:
         direction: 1
         limit_position_max: 2.53
         limit_position_min: -2.52
-        position_P_gain: 64
-        position_I_gain: 7
-        position_D_gain: 0
+        position_P_gain: 32
+        position_I_gain: 1
+        position_D_gain: 1
+
 
diff --git a/niryo_robot_hardware_stack/joints_interface/config/one/dynamixels_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/one/dynamixels_params.yaml
@@ -29,9 +29,10 @@ dynamixels:
         direction: 1
         limit_position_max: 2.53
         limit_position_min: -2.53
-        position_P_gain: 84
-        position_I_gain: 9
-        position_D_gain: 5
+        position_P_gain: 32
+        position_I_gain: 1
+        position_D_gain: 1
+
 
 
 

diff --git a/niryo_robot_hardware_stack/joints_interface/package.xml b/niryo_robot_hardware_stack/joints_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>joints_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides all hardware componant to control the joints of the robot.</description>
   <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
 

diff --git a/niryo_robot_hardware_stack/joints_interface/src/calibration_manager.cpp b/niryo_robot_hardware_stack/joints_interface/src/calibration_manager.cpp
@@ -430,7 +430,7 @@ EStepperCalibrationStatus CalibrationManager::autoCalibration()
 
         // 6. Move steppers to home
         moveSteppersToHome();
-        ros::Duration(3.5).sleep();
+        ros::Duration(("ned2" == _hardware_version) ? 3.5 : 4).sleep();
 
         // 7. Write sensor_offset_steps to file
         saveCalibrationOffsetsToFile(sensor_offset_ids, sensor_offset_results);
@@ -611,14 +611,14 @@ void CalibrationManager::moveRobotBeforeCalibration()
 
     _ttl_interface->waitSyncQueueFree();
 
-    // 1. Relative Move Motor 1 (can only)
+    // 1. Relative Move Motor 2 (can only)
     if (_can_interface &&
-        _joint_states_list.at(0)->isStepper() &&
-        common::model::EBusProtocol::CAN == _joint_states_list.at(0)->getBusProtocol())
+        _joint_states_list.at(1)->isStepper() &&
+        common::model::EBusProtocol::CAN == _joint_states_list.at(1)->getBusProtocol())
     {
-        uint8_t motor_id = _joint_states_list.at(0)->getId();
-        int steps = -500 * _joint_states_list.at(0)->getDirection();
-        int delay = 200;
+        uint8_t motor_id = _joint_states_list.at(1)->getId();
+        int steps = -500 * _joint_states_list.at(1)->getDirection();
+        int delay = 1000;
 
         _can_interface->addSingleCommandToQueue(std::make_unique<StepperSingleCmd>(
                                                     StepperSingleCmd(EStepperCommandType::CMD_TYPE_RELATIVE_MOVE,
@@ -633,7 +633,7 @@ void CalibrationManager::moveRobotBeforeCalibration()
         if (EBusProtocol::CAN == _joint_states_list.at(2)->getBusProtocol())
         {
             int steps = _joint_states_list.at(2)->to_motor_pos(0.25);
-            int delay = 500;
+            int delay = 1000;
 
             _can_interface->addSingleCommandToQueue(std::make_unique<StepperSingleCmd>(
                                                       StepperSingleCmd(EStepperCommandType::CMD_TYPE_RELATIVE_MOVE,
@@ -697,7 +697,7 @@ void CalibrationManager::moveSteppersToHome()
                 else
                     steps = jState->to_motor_pos(jState->getHomePosition()) - jState->to_motor_pos(jState->getLimitPositionMin());
 
-                int delay = 550;
+                int delay = (1 >= motor_id)  ? 500 : 1700;
                 // TODO(cc) quick fix, we should use the same method for real and simulation.
                 // The difficulty here is that simulation does not move the joints during the calibration (how to do it ?)
                 if (!_simulation_mode)

diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_hardware_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>The hardware_interface package</description>
   <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
 

diff --git a/niryo_robot_hardware_stack/tools_interface/package.xml b/niryo_robot_hardware_stack/tools_interface/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tools_interface</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface to manage the tools of the robot</description>
   <maintainer email="e.rey-coquais@niryo.com">Etienne Rey-Coquais</maintainer>
 

diff --git a/niryo_robot_hardware_stack/ttl_debug_tools/package.xml b/niryo_robot_hardware_stack/ttl_debug_tools/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ttl_debug_tools</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Ned's debug tools</description>
   <maintainer email="v.pitre@niryo.com">Valentin Pitre</maintainer>
   <license>GPLv3</license>

diff --git a/niryo_robot_hardware_stack/ttl_driver/package.xml b/niryo_robot_hardware_stack/ttl_driver/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ttl_driver</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Provides an interface bewteen high level ROS packages and motors on TTL bus</description>
   <maintainer email="c.cocquempot@niryo.com">Clement Cocquempot</maintainer>
 

diff --git a/niryo_robot_led_ring/package.xml b/niryo_robot_led_ring/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
   <package format="3">
   <name>niryo_robot_led_ring</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
     Manages the led ring on the robot
   </description>

diff --git a/niryo_robot_modbus/package.xml b/niryo_robot_modbus/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_modbus</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Ned Modbus Server</description>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
 

diff --git a/niryo_robot_moveit_config/niryo_moveit_config_standalone/package.xml b/niryo_robot_moveit_config/niryo_moveit_config_standalone/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_moveit_config_standalone</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
      An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework
   </description>

diff --git a/niryo_robot_moveit_config/niryo_moveit_config_w_gripper1/package.xml b/niryo_robot_moveit_config/niryo_moveit_config_w_gripper1/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_moveit_config_w_gripper1</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
      An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework
   </description>

diff --git a/niryo_robot_msgs/package.xml b/niryo_robot_msgs/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_msgs</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>Niryo "Standards messages" used in other Niryo Robot packages</description>
   <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
   <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>

diff --git a/niryo_robot_poses_handlers/package.xml b/niryo_robot_poses_handlers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_poses_handlers</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
       - Handles the conversion of workspace-relative poses to robot poses
       - Handles Poses

diff --git a/niryo_robot_programs_manager/package.xml b/niryo_robot_programs_manager/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>niryo_robot_programs_manager</name>
-  <version>4.0.0</version>
+  <version>4.0.1</version>
   <description>
     - Save programs
     - Launch saved python programs