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