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Version: 0.10.0

Release Notes

0.10.0​

New Features​

  • Added the ability to start mission from a specific Waypoint
  • Added the ability to resume mission from current location
  • Added the option to include on-start and on-stop tasks to a Mission
  • Added the option to continue a Mission if a Task should fail
  • Full release of the API examples repository to the public (link API examples top level page)

API Features​

  • Action definition changes (see API Endpoints)
    • Mission.action added from_start and start_waypoint_uuid fields
    • ExecuteMissionByUuid.action: added from_start and start_waypoint_uuid fields
  • Message Definition changes
    • Mission.msg: added an array of on_start and and array of on_stop tasks fields
    • Task.msg: added a boolean allow_failure field
  • Updated /safety/safety_stop message type (see Definitions)
  • Added import/export services for /dock, /mission_manager/ and /mission_scheduler features

Bug Fixes​

  • 1546: Robot cannot start mission part-way through if a task is assigned on any Waypoint prior to its location
  • 1764: Importing missions with docking tasks fails to bring in docks

Known Issues​

  • 1396: Robot gets temporarily stuck at start of mission when near a Waypoint
  • 1844: [MPC] Maximum acceleration param doesn't appear to have any effect

0.9.0​

New Features​

  • Operators can now Schedule Missions to run at specific times (see Mission Scheduler)
  • Added in support for BulletCat12 Microhard WiFi and Cellular connections
  • Allow Audio recording as both tasks and manual operations if UGV has Microphones
  • Create custom tasks that can be run during missions (see Custom Tasks)
  • If installed with PDU, UGV can be set to Low Power mode to better conserve power
  • New navigation topics added to ROS Autonomy API (see API Endpoints):
    • /navigation/progress
    • /navigation/motion_state
    • /navigation/metrics
  • Improved precision of docking
  • Improved autonomy feedback when something goes wrong in the mission to increase the diagnosability of the error
  • Updated Navigation features available to the customer:
    • Continuous Replanning renamed to Continuous Planning and is always enabled.
    • Constrained Planning is always enabled. Environment Variable to update the path constraint has been modified (see Navigation)
    • Removed Obstacle Avoidance Mode. The UGV will always attempt to avoid obstacles.
    • Removed Path Smoothing. This is always enabled.
    • Docking feature added for customers who have purchased a dock.

Bug Fixes​

  • 1324: Allow single Waypoint missions and/or tasks on first waypoint (required for undocking through tasks).
  • 1340: Undocking not working through tasks
  • 1607: Fixed MovePTZ task failures

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 609: Realsense D435 collision avoidance not fully tuned.
  • 751: Wireless icon in UI doesn't work for Ubiquity hardware.
  • 1396: Robot gets temporarily stuck at start of mission when near a Waypoint.
  • 1546: Robot cannot start mission part-way through if a task is assigned on any Waypoint prior to its location.

0.8.0​

New Features​

  • Inertial Measurement Units (IMUs) integrated into localization.
  • Added localization status topic (see API Endpoints).
  • Added re-localization service (see API Endpoints).
  • Additional diagnostic information in the status view.
  • Docking improvements including: multiple docks, visual representation of docks on map, local docking/undocking through teleop view. Docking only functional with 2D LiDARs.
  • Customization & Tuning Appendix C added. Lists of tuning parameters for navigation and collision avoidance are now available. As well as, instructions/process on how to tune UGVs with differential drive dynamics. Instructions for UGVs with Ackermann dynamics are on their way.

Bug Fixes​

  • 1134: Display/Hide Datum Point not working.
  • 1139: Issues with non-husky platforms.
  • 1137: Refreshing page re-enables edit button while mission running.
  • 1276: Feedback added for incorrect first Waypoint placement.

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 609: Realsense D435 collision avoidance not fully tuned.
  • 751: Wireless icon in UI doesn't work for Ubiquity hardware.
  • 1138: Issues with greying out Waypoints in edge cases.
  • 1324: Allow single Waypoint missions and/or tasks on first waypoint (required for undocking through tasks).
  • 1340: Undocking not working through tasks.

0.7.0​

New Features​

  • Goal terminology has been removed from the mission generation nomenclature (see Definitions) Users can now add tasks, apply final headings, and set navigation tolerances to any Waypoint in a Mission.
  • Drag and Drop of Waypoints now available in Edit Mode.
  • New Waypoints can be inserted between existing Waypoints in a Mission.
  • Mission API now available to create/edit/load missions, waypoints and tasks.
  • Mission execution via mission ID is now available.
  • The base station location is now displayed in the UI after carrying out an automated survey.
  • New coloring scheme for GNSS status icons to provide more accurate information.

Bug Fixes​

  • 996: Axis camera missing ptz_state

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 609: Realsense D435 collision avoidance not fully tuned.
  • 751: Wireless icon in UI doesn't work for Ubiquity hardware.
  • 1134: Display/Hide Datum point not working.
  • 1137: Refreshing page re-enables edit button while mission running.
  • 1138: Issues with greying out Waypoints in edge cases.

0.6.0​

New Features​

  • OutdoorNav ROS API updated. API now divided into Platform and Autonomy sections. See API Overview for more details.
  • Simulation environment created with charge dock, base station and camera plugins.
  • Added deviation path visualization to UI when constrained replanning is enabled.
  • Modified goalpoint icons to reflect tasks assigned to them.
  • Added the ability to record rosbags from UI.
  • Added GPS signal strength to status page.
  • Added improvements to PTZ controls (cosmetic changes, ability to disable zoom, added a reset mark).
  • User can set map source from OpenStreet, MapBox, Bing Maps, or custom map tiles through UI.

Bug Fixes​

  • 632: Prevent users from changing mission while a mission is running.
  • 661: Removed map view when no map is provided in default-state.json. file.
  • 712: Fixed front end hanging when user opens menu from any view other than main view.
  • 716: Removed connecting lines from disabled goals.

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 609: Realsense D435 collision avoidance not fully tuned.
  • 751: Wireless icon in UI doesn't work for Ubiquity hardware.
  • 756: Waypoints stop turning grey when they are hit if a waypoint is skipped.

0.5.0​

New Features​

  • Sensor Kit Options: Starter, Standard, Backpack.
  • New localization module.
  • Added support for UBlox F9K and F9P GNSS receivers in the localization module.
  • Added support for either single or dual Swiftnav Duro/Piksi GNSS receiver(s) in the localization module.
  • Added support for Realsense D435 camera in collision avoidance module.
  • New/updated user modifiable environment variables for sensor and navigation tuning.
  • Added a Virtual Guided tour of the application for first time users.
  • Added StreetView and Bing map tiles (to existing MapBox tile).
  • Allow users to specify custom map tile source.
  • Added cosmetic changes to traversed waypoints as well as a robot. status icon with ROS topic health information.

Bug Fixes​

  • 253: Replace default camera image for camera views when stream is unavailable.
  • 281: Fixed navigation latched in a PAUSE state.
  • 574: Fixed map settings page to not rerender when robots position changes.

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 609: Realsense D435 collision avoidance not fully tuned.

0.4.0​

New Features​

  • Improved wireless charger docking workflow and added ROS Noetic docking support.
  • Added option to record videos from cameras.
  • Improved Docker setup to allow concurrent installation with IndoorNav.
  • Added initial support for integration with Formant.
  • Added Docker installation support for Jackal and Warthog robots.

Bug Fixes​

  • 480: Added rate limiter for continuous planner.
  • 490: Fixed base station survey pop up to better reflect survey time.

Known Issues​

  • 131: Software upgrade process not documented fully.

0.3.0​

New Features​

  • Upgraded from ROS Melodic to ROS Noetic.
  • Published initial performance metrics.
  • Updated system architecture to work in Docker containers.

Bug Fixes​

  • 266: Allowed map offsets to be set more than once without needing to reset them back to zero.
  • 365: Updated costmap to handle large stop distances properly.
  • 377: Fixed handling of goal tolerances of 0.02m or less.
  • 389: Fixed issue with goal being skipped in some cases where final heading was specified.

Known Issues​

  • 131: Software upgrade process not documented fully.
  • 150: Docking not yet implemented in Noetic.
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