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.

Fix QoS of subscriber to in vacuum gripper plugin in order to fix drop part challenge not triggering properly.

Fixed issue #314 with #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
- 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

Added headers to BasicLogicalCameraImage msg and AdvancedLogicalCameraImage msg 313

Initial release of the 2024 ARIAC competition.

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
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
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
Changed RGB/RGBD cameras to publish a blank image during sensor blackout challenge instead of not publishing #295
Fixed issues to make part picking and assembly more reliable #288
Removed human challenge for 2024 competition #280

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 to use MoveItConfigsBuilder. #257
Moved documentation and automated evaluation to separate repositories #275
Moved/renamed test_competitor in separate repository #298
General cleanup of packages #261