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Version: 0.12.0

Release Notes

0.12.0​

New Features​

  • Modified mission planning modes. Now includes:
    • Map mode (which allows the user to create maps of an environment and send mission using said map)
    • Waypoint mode (which allows the user to create more direct mission by placing waypoints directly on the Aerial overlay)
  • Added an Assisted teleoperation feature to prevent robot collisions with obstacles when it is being teleoperated.
  • Added the upgrade command to the CLI tool. Customers can now upgrade their software as long as they are eligible to be upgraded to the newest version. Please contact Support for more information.
  • New visualization of status command in CLI tool
  • Added a filebrowser extension to access/view the robot filesystem for easier media access

API Features​

  • Added new message definitions and service calls for the storage/editing of Maps

Bug Fixes​

  • 1973: Fixed python “machineid” error during installation
  • 2089: Fixed the no serial number on /platform/id topic
  • 2169: Fixed the mission manager/scheduler still requesting during Teleop only mode

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
  • 2332: upgrading from 0.11 to 0.12.0 in teleoperation only configuration and Q62 installed causes duplication of axis driver. Please contact Support if you run into this issue.
  • 2344: Autonomy not going down during low-power mode
  • 2360: Waypoint/Map modes use different mouse click to open context menus

0.11.0​

New Features​

  • Command Line Tool used to install/update/manage OutdoorNav
  • Added the End User License Agreement to the UI upon start up
  • Light and PTZ Pan/Tilt controls can now be mapped to a controller
  • OutdoorNav/IndoorNav switch over improvements
  • Can now place waypoints at UGV location via shortcut key (Shift + X)

API Features​

  • Can now delete multiple mission objects (missions, waypoints, tasks) in single call
  • Stack Light can now be manually overridden/muted
  • Added ability to import single missions to the robot

Bug Fixes​

  • 1688: Move PTZ task only ever uses the first PTZ camera's positions
  • 2011: Filter false "Move PTZ Failure" notifications when moving PTZ camera

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

0.10.0​

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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