Changelog

This project adheres to Semantic Versioning.

1.2.2 (19th September 2024)

Error handling hotfix

Fixed

  • Error returned by the control panel backend in case of a bad License key is now intelligible

Added

N/A

Changed

N/A

Removed

N/A

1.2.1 (2nd September 2024)

Diagnostic and Visualization tools added!

Fixed

  • Fix viz of lidar

  • Fix control panel form validation on some fields

  • Fix lidar config generated by control panel not being valid in some circumstances

  • Fix dynamic consistency plot start/stop

  • Fix control panel configuration of lidar not saving

Added

  • Added more helpers in control panel configuration

  • Added default values to process noise covariance

Changed

  • Removed option for lidar and laserscan ranges to have no bounds

Removed

N/A

1.2.0 (19th August 2024)

Diagnostic and Visualization tools added!

Fixed

  • Remove plot flickering that could appear due to variable update rate

  • Fix ROS1 subscriber in control panel

  • Fixed actuator signal used by RDM which was wrong when RAM was active.

Added

  • Supervisor logs are now published over ROS

  • RDM can now trigger RAM faults based on some metrics

  • RAM faults can now be triggered externally via ROS topic

  • Can now load mesh for all the formats supported by assimp library

Control Panel:

Configuration:

  • License expiration and detail available

  • Odometry consistency

  • Dynamic consistency

  • System heath (CPU load, RAM load and Read/Write rate)

Operation:

  • Generic Logs journal with level selection

  • Filter compute time

  • Minimap with safety margin visualization

  • RAM enable/disable button

Diagnostic:

  • Odometry consistency plots and status timeline

  • System health plots

  • Dynamic consistency plots

Misc:

  • Stop button on plots to stop the moving time frame

Robot Diagnostic Module

  • Odometry consistency metric

Runtime Assurance Module

  • Added option for simple downsampling of laserscan data

Changed

  • Copilot status is replaced by RDM and RAM status in operation tab

  • The behavior preference for the RAM has been simplified, now you don’t have to choose between slowing down or turning, it will pick based on commanded velocities

  • Dynamic consistency metric module is now based on integration instead of numerical differentiation. Makes for more intuitive metric values

Removed

N/A

1.1.1 (20th May 2024)

New supported ROS topic types and various bug fix

Fixed

Added

  • Support for mesh shape type configuration and visualization

Changed

Removed

N/A

1.1.0 (20th May 2024)

New supported ROS topic types and various bug fix

Fixed

  • Node launching in incorrect namespace for ROS1

  • Config file broken for ROS1

  • Opening control panel from operation page not loading entire config

  • Plots in operation tab of control panel not working with ROS1

Added

  • Support for new subscription topic types:

    • Ackerman Steering [Stamped] see doc here

    • Accel [Stamped/withCovariance/withCovarianceStamped]

    • Pose [Stamped/withCovariance/withCovarianceStamped]

    • Twist [Stamped/withCovariance/withCovarianceStamped]

    • Transform [Stamped]

  • Customizable filtered input (Runtime Assurance Module output) topic name, type and QoS

Changed

  • Shape selection improved with shape visualization.

  • Various bug fixes including loading errors while loading the configuration.

  • Better RAM printing in failure mode

  • Improved contextual documentation in control panel to start rosbridge

Removed

N/A

1.0.3 (7th May 2024)

  • Fix omnidirectional dynamics.

Fixed

  • Omnidirectional dynamics not working when using input mask.

Added

N/A

Changed

N/A

Removed

N/A

1.0.2 (4th May 2024)

Improve and fix objects map perception modality.

Fixed

  • Objects map perception modality that was not working in certain circumstances

Added

  • Objects now show up in RAM markers

Changed

N/A

Removed

N/A

1.0.1 (1st May 2024)

Fix documentation coherence.

Fixed

  • Renaming Supervisor parameters sections to fit with the documentation. “Copilot” renamed in Run-time Assurance Module

  • Default port set to 8000 for every Control Panel entry point (server and CLI)

Added

N/A

Changed

N/A

Removed

N/A

1.0.0 (1st May 2024)

This is the first version of the supervisor product.

Fixed

N/A

Added

  • A ROS node that perform out of the box collision avoidance for any simple robot that has a lidar or an obstacle map.

  • A Control Panel as a web server running on the robot to configure the supervisor and provide realtime feedback.

  • A Command Line Client to manage the Control Panel server and check for updates.

  • A documentation available here.

Changed

N/A

Removed

N/A