🚀 Distro 2023.11.0 Released

[Nicogene]

2023.11.0 Distro Announcement

Brief description of the announcement

Hello @robotology/everyone 👋

The iCub project is happy to announce our Software Distro 2023.11.0 📦

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

🔘 Run a joint with only motor encoder connected to a remote board

With this new feature, now it is possible to run a joint that uses the motor encoder that isn't connected to the main motion control board (EMS), but to its slave (2FOC).

🔘 Fix wrong coefficients coupling the eyes' vergence

The coupling matrix governing the motion of the eyes' pan and vergence contained a small error we fixed via:

• Fix wrong coefficients coupling the eyes' vergence robots-configuration#574

The corresponding discussion is available at:

• Wrong coefficients coupling the eyes' vergence? robots-configuration#228

🔘 MC4Plus can drive 1 motor with 2 channels

When a DC motor needs to actuate an "heavy" joint requiring high currents, we can now connect two output channels of our MC4Plus in parallel to the motor in order to double down the current delivered.

Relative PR's:

• mc4plus double pinout icub-firmware#412
• amc.wrist.right v101.11, amc.wrist.left v102.11, ems v3.75, mc4plus v3.78, mc2plus v3.57 icub-firmware-build#101
• mc4plus double pinout icub-firmware-shared#87