🚀 Distro 2023.08.0 Released

[Nicogene]

2023.08.0 Distro Announcement

Brief description of the announcement

Hello @robotology/everyone 👋

The iCub project is happy to announce our Software Distro 2023.08.0 📦

This is a major release that comprises binary packages as well. Therefore, follow the instructions available in our documentation to upgrade your system and/or download the new dependencies.

You can find the tags composing this distro in our Software Versioning Table.

Detailed context

This distro is shipped with several updates and fixes, including the ones listed hereafter:

🆕 Updates

🔘 Human readable embedded diagnostic

In this release the first step toward a user-friendly diagnostic has been deployed. Now, each info, warning, and error message is printed with more significant information as you can see

-[WARNING] from BOARD 10.0.1.7 ("5-setup") time=186s 90m 243u :  src LOCAL, adr 0,(code 0x0200000a, par16 0x0000 par64 0x000000000000000c) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .
+[WARNING] from BOARD 10.0.1.7 ("5-setup") time=186s 90m 243u :  MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. (Joint=0 encoderPort=0)

Also, see:

• Make embedded diagnostic more human readable icub-main#886

🔘 iCubSingapore01 🤖 revamped

iCubSingapore01 received several fixes and upgrades both software-wise and hardware-wise. The test report can be browsed here.

Also, see:

• [iCubSingapore01] Updating Configuration Files robots-configuration#552

🔘 creo2urdf is now ready for beta testing

The creo2urdf plugin can be now used for extracting the urdf of any simulation model assembly conform to these guidelines.

🔘 FT Sensors name changed in iCub and ergoCub

icub-models 2.0.0 changed the name of the FT sensors in the URDF from being named <identifier>_ft_sensor (like l_arm_ft_sensor, l_leg_ft_sensor, ...) to <identifier>_ft (like l_arm_ft, l_leg_ft, ...), for ROS2 compatibility.

However, yarprobotinterface configuration files for iCub continued to refer to the sensors as <identifier>_ft_sensor, creating errors for software that was trying to match sensors find in URDF and sensors as exposed by the YARP's multipleanalogsensorsserver device. With this distro release, all the software should refer consistently to FT sensor with the name <identifier>_ft . If you found more inconsistencies, please open an issue in the related repository.

Note that the name of the joint to which the sensor is attached remained <identifier>_ft_sensor, both before and after icub-models 2.0.0 release.

See:

• Harmonize ergocub FT sensor names with the one used in ergocub URDF robots-configuration#561
• Fix compatibility with FT sensors names in URDF in icub-models >= 2 robots-configuration#562

🔘 Fixed FrameGrabberGui2 fix after remote_grabber deprecation

Check out:

• FrameGrabberGui2: fix after remote_grabber deprecation icub-main#895

🔘 iCub leg skin spatial calibration

We welcome the first contribution of @BoPot ✨, from @matejhof's lab, who provided the necessary machinery to calibrate the taxel positions of the skin equipping the iCub legs.

For further detail, refer to:

• Add leg skin spatial calibration icub-main#897
• Correction of leg skin calibration icub-main#904

🔘 ExposedembObjMais data via MAS interface

The device embObjMais relies now on multipleanalogsensorsserver and this will soon allow us to update our robots so that they no longer make use of deprecated YARP I/F's.

Check out:

• embObjMais: expose data via MAS interface icub-main#905

🔘 Replaced embObjInertial with embObjIMU

Check out:

• Replace embObjInertial w/ embObjIMU – Stint 1 robots-configuration#420

🔘 Publish BAT status via embObjBattery

We introduced the possibility to check debug messages when the status provided by the BAT board managing the battery changes in yarprobotinterface.

See related PR's:

• Status passed to embObjBattery.cpp icub-main#896
• Add status and maps for handling status strings  icub-firmware-shared#85
• Add handling of status messages for BAT and BMS in EMS baord icub-firmware#403