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Release 2.2.0 of KINOVA ROS KORTEX repository in sync with KINOVA Gen3 release v2.2.0
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@alexvannobel alexvannobel released this 26 Feb 21:10
· 25 commits to kinetic-devel since this release
v2.2.0
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Learn about vigilant mode.

Release 2.2.0 of KINOVA KORTEX repository in sync with KINOVA Gen3 Ultra lightweight robot version 2.2.0

This release works for both the Gen3 and the Gen3 lite, but the new firmware is only for Gen3. The most recent firmware version for Gen3 lite is 2.1.0

Download links

You can download the 2.2.0 firmware package for the Gen3 here.
You can download the 2.2.0 release notes for the Gen3 here.
You can download the most recent User Guide here.

What's new

Robot features

  • New Gen3 6DOF robot model
  • Added Fixed Base and No Vision Module configurations for the Gen3 arm
  • Faster robot movement:
    • Up to 50 cm/s in Cartesian Linear Twist
    • Up to 100 deg/s in Cartesian Angular Twist
    • Up to 80 deg/s in Joint Speeds for big actuators
    • Up to 70 deg/s in Joint Speeds for small actuators
  • Configurable soft limits in the WebApp (you can access the tab in Configurations->Speed Limits):
    image
  • Teaching mode was added and can be accessed when Creating a new Sequence in the Actions page. You can read more about how the Teaching mode functions in the User Guide.
    image
  • Controller mappings are now configurable (you can access the tab in Configurations->Controllers):
    image

Changes to the ROS Kortex packages

  • The Kortex API is now hosted on our Conan Artifactory server and a Conan installation procedure has been added. Once Conan is installed on your machine, the API will be automatically downloaded by Conan instead. You can read more about the Conan package manager here. You can still use the old way of building ROS Kortex and download it on Artifactory (see details in this section).
    Essentially, to install Conan, run those lines (make sure you have python3 and pip installed):
sudo python3 -m pip install conan
conan config set general.revisions_enabled=1
conan profile new default --detect > /dev/null
conan profile update settings.compiler.libcxx=libstdc++11 default
  • A new deprecation message was added to the API for some functions. With ROS, you'll get a runtime warning when calling the deprecated services in the kortex_arm_driver window output.
  • Added an option to use the arm's hard limits as soft limits (Gen3 only). This enables the arm to use MoveIt at full speed, with modified joint speed and acceleration limits. The hard joint limits can be found, for example, in this file. You can read more about it in the use_hard_limits parameter in this section. Be aware that enabling this parameter will automatically set your arm's soft limits to the hard limits, so your arm will move a lot faster! Be cautious when turning it on for the first time!
  • Added the description and MoveIt config's for the 6DOF arms, and support for Gen3 arms without vision modules.
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