Changelog

2024.1.0, (2023-12-15)

Initial release of the 2024 ARIAC competition.

Updates relevant to competitors:

  • Competition environment moved to ROS Iron on Ubuntu 22.04.

  • Added RGB/RGBD cameras to the robot end effectors #274

  • Removed the ability to use advanced_logical_cameras for the competition. #258

    • Advanced logical cameras can still be used for development using the launch argument dev_mode:=true

  • Updated conveyor belt to continually spawn parts throughout the competition #264

  • Added new challenge where assembly inserts can be rotated on assembly tables #267

  • Fixed issue with part inertias that was affecting part pick up (especially pump) #260

  • Added output of the competitors’s sensor cost and trial score to the ariac_logs directory

  • Changed initial poses of the robots to be their home pose (from ariac_moveit_config srdf) #271

  • Added feature to clear the AGV of tray and parts after kitting orders are submitted #266

  • Added the ability to pick parts from the conveyor to the test competitor #262

Other Updates

  • Added static controllers to fix issue with new version of ros2_control where the robots drift when no controllers are active. #259

  • Updated ariac_moveit_config and test_competitor to use MoveItConfigsBuilder. #257

  • Moved documentation and automated evaluation to separate repositories #275

  • Improved test competitor logging #270

  • General cleanup of packages #261