.. _CHANGELOG: ========= Changelog ========= --------------------- 2024.5.0, (2024-6-10) --------------------- * Adds additional optical TF frame for all cameras * Fixes criteria for being in a quadrant #347, issue where a part at the edge of a quadrant is identified as flipped * Modified values for tape on kit trays to be more gray than black to help with aruco detection * Adds option to trial generator GUI to rebuild the ariac_gazebo package after a trial is modified or added. --------------------- 2024.4.1, (2024-5-8) --------------------- * Fix focal length issue in camera_info topic --------------------- 2024.4.0, (2024-4-30) --------------------- * Fix QoS of subscriber to in vacuum gripper plugin in order to fix drop part challenge not triggering properly. --------------------- 2024.3.0, (2024-3-28) --------------------- * Fixed issue `#314 <https://github.com/usnistgov/ARIAC/issues/314>`_ with `#317 <https://github.com/usnistgov/ARIAC/pull/317>`_ * Changes gripper_joint in the vacuum_gripper.xacro to be fixed instead of revolute. * Removes ceiling_gripper_joint and floor_gripper_joint from MoveItConfig * Updates to the Trial Configurator GUI: `#320 <https://github.com/usnistgov/ARIAC/pull/320>`_ * Added random parts for conveyor and bins * Clear all bins and conveyor buttons added * More warning messages * Save button deactivates if there are no orders * Restricted available offsets for pump on conveyor belt * Fixed image rotation --------------------- 2024.2.0, (2024-3-14) --------------------- * Added headers to BasicLogicalCameraImage msg and AdvancedLogicalCameraImage msg `313 <https://github.com/usnistgov/ARIAC/pull/313>`_ --------------------- 2024.1.1, (2024-2-1) --------------------- * Fixed issue with GUI `#301 <https://github.com/usnistgov/ARIAC/pull/301>`_ --------------------- 2024.1.0, (2024-1-30) --------------------- 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 <https://github.com/usnistgov/ARIAC/pull/274>`_ * Removed the ability to use advanced_logical_cameras for the competition. `#258 <https://github.com/usnistgov/ARIAC/pull/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 <https://github.com/usnistgov/ARIAC/pull/264>`_ * Added new challenge where assembly inserts can be rotated on assembly tables `#267 <https://github.com/usnistgov/ARIAC/pull/267>`_ * Fixed issue with part inertias that was affecting part pick up (especially pump) `#260 <https://github.com/usnistgov/ARIAC/pull/260>`_ * Changed initial poses of the robots to be their home pose (from ariac_moveit_config srdf) `#271 <https://github.com/usnistgov/ARIAC/pull/271>`_ * Added feature to clear the AGV of tray and parts after kitting orders are submitted `#266 <https://github.com/usnistgov/ARIAC/pull/276>`_ * Updated task manager scoring of tasks and improved logging display of scoring. Added output of the competitors's sensor cost and trial score to the ariac_logs directory `#296 <https://github.com/usnistgov/ARIAC/pull/296>`_ * Changed RGB/RGBD cameras to publish a blank image during sensor blackout challenge instead of not publishing `#295 <https://github.com/usnistgov/ARIAC/pull/295>`_ * Fixed issues to make part picking and assembly more reliable `#288 <https://github.com/usnistgov/ARIAC/pull/288>`_ * Removed human challenge for 2024 competition `#280 <https://github.com/usnistgov/ARIAC/pull/280>`_ Other Updates ============= * Added static controllers to fix issue with new version of ros2_control where the robots drift when no controllers are active. `#259 <https://github.com/usnistgov/ARIAC/pull/259>`_ * Updated ariac_moveit_config to use MoveItConfigsBuilder. `#257 <https://github.com/usnistgov/ARIAC/pull/257>`_ * Moved documentation and automated evaluation to separate repositories `#275 <https://github.com/usnistgov/ARIAC/pull/275>`_ * Moved/renamed test_competitor in separate repository `#298 <https://github.com/usnistgov/ARIAC/pull/298>`_ * General cleanup of packages `#261 <https://github.com/usnistgov/ARIAC/pull/261>`_