arcor2-arserver 0.20.0

ARCOR2 ARServer

arcor2_arserver

Changelog

The format is based on Keep a Changelog,

[0.20.0] - 2021-07-29

Changed

• Support for multi arm robots.
  • Dealing with arm_id parameter in RPCs.
  • Streaming EEF poses for all arms.
• Allow to reposition scene objects while online.
  • It was allowed to reposition objects using robot,
  • ...but disallowed to do it manually.
  • This was inconsistent and unnecessarily restrictive.
  • Now objects (except robots) can be repositioned anytime.
• When creating a new project, common parameters are added automatically.
  • At the moment those are scene_id and project_id.
  • A user could use or remove them.
• Collisions are not removed after stopping the scene.
• ObjectType change detection is now based on modified instead of comparing source codes.
• ARServer Project service client now stores cached scenes/projects.
• Object aiming reworked.
  • RPCs were renamed and all of them now have dry_run.
  • There is a new method to cancel the process.
  • One user can be aiming one object at the moment.
  • Both the object and the selected robot have to be write-locked.
  • Improved logging.
  • Test was added.
• Server no longer downloads URDF packages.
  • ARCOR2_DATA_PATH environment variable is no longer used.
  • Clients will get URDFs through reverse proxy from Project service.
• NewObjectType no longer assumes that mesh already exists.
  • A file associated to mesh must exist in advance.

Fixed

• All calls to the Scene service are guarded against exceptions.
• Renaming of project parameters fixed.
  • It was possible to use already taken name.

[0.19.0] - 2021-06-22

• Update to API version 0.15.0.

[0.18.0] - 2021-06-11

Changed

• Updated to work with Project service 0.8.0.
• Allow fast re-login after connection was broken.
• Added locking to const-related RPCs.
• Log calibration-related errors.

Fixed

• Handle invalid ObjectType settings annotation.

[0.17.0] - 2021-05-21

Changed

• Return value of GetCameraPose RPC updated.
• Objects initialization order.
  • Object initialization order can be set using class-level INIT_PRIORITY variable.
  • The higher priority, the sooner are objects of that type initialized.
  • Initialization happens in parallel (for objects of the same priority).
• SetEefPerpendicularToWorld now calls IK in parallel.
  • This provides almost 100% speed-up even when the robot service proceeds requests one by one.
• Added locking of internal resources.

  • Created a lock module that allows to read/write lock existing or special objects. The module contains:

    • lock object with all necessary methods;
    • structures for keeping data about locked objects;
    • locking-related exceptions;
    • queue and task for notifying UI about lock data;
    • methods for auto-unlocking after timeout when user logouts.

  • Base tests of locking structure.

  • RPCs for (un)locking object, registering user name.

  • Events for (un)locking object.

  • Created a class for maintaining connected UIs.

  • Project methods to get object by ID, object parent and object children.

  • All RPCs that requires some kind of locking are now lock-guarded.

  • Updated existing tests to work with newly implemented locking.

  • Global variables SCENE, PROJECT and INTERFACES moved to new classes.

• Rewritten cache for the Project service.
  • The cache is now always on (provides a significant speed-up).
  • External updates to the Project service are recognized properly.
• New RPC AddApUsingRobot.
• Support for multiple inheritance.
  • ObjectTypes can now use mixins.
  • It should be used like class NewObjectType(MixinA, MixinB, Generic).
  • E.g. the last ancestor should be something derived from Generic.
• SetEefPerpendicularToWorld faster as it calls IK in parallel.

Fixed

• SceneState event was not sent to a newly connected UIs.
• Results of actions are now forgotten when going offline.
• Fixed support for link parameter type.

[0.16.0] - 2021-04-20

Fixed

• Action can't use its own result as a parameter (link parameter type).

Changed

• Dependency on arcor2 0.15.0 with updated REST client.
• Action parameter value is now always JSON.
  • It used to be a string for link/constant special types.

[0.15.1] - 2021-04-19

Fixed

• Dependency on bugfix release of arcor2.

[0.15.0] - 2021-03-30

Changed

• New RPC SetEefPerpendicularToWorld.
• New RPC StepRobotEef.

Fixed

• CopyActionPoint RPC: update action parameters to use copied orientations.
• Scene now goes offline before execution and to the original state after it.
• Scene-related messages adapted to a new terminology.

[0.14.0] - 2021-03-15

Changed

• Improved logging for debugging robot features.
• Suffix is added to copied AP/action instead of prefix.

Fixed

• Names for orientations/joints were not checked as valid identifiers.
• Action names were checked, but should not be.

[0.13.0] - 2021-03-03

Changed

• API to copy action point (including orientations, joints, child APs).
• Robot-related API (MoveToPose, MoveToJoints, MoveToActionPoint) updated in order to contain safe parameter.
• API to enable/disable robot hand teaching mode.
• Concrete and helpful error messages when a name entered by the user is refused.

Fixed

• Only BareActionPoint was sent on parent change.

[0.12.0] - 2021-02-08

Changed

• Improved scene-related messages.
  • Error messages now contain the name of the object which caused the error.
• New MarkersCorners RPC for getting markers corners.
• Support for an parameter (explicit parameters).
• Improved check of action signature and annotation.
• New WS API for execution state reporting.
• Support for project constants.
  • Only basic types are supported so far.

Fixed

• Better handling of missing collision model.
  • If server can't get collision model of the object, the object is disabled.
  • Previously, this situation caused crash of the server.
• GetCameraPose callback fixed (used to be Calibration).

[0.11.0] - 2020-12-14

Changed

• Improved support for logic branching.
  • So far, only boolean outputs are supported.
• Improved handling of return values (uses the same function as the main script).
• The internal database of ObjectTypes in updated each time before opening a scene or a project.
  • Changes are notified using ChangedObjectTypes event (one event for added objects, one for updated and another one for deleted ones).
• Support for camera/robot calibration.
• Initial support for cameras (getting images, camera parameters).

[0.10.1] - 2020-10-30

Changed

• RPC for IK/FK.

[0.10.0] - 2020-10-22

Changed

• Updated due to a breaking change in arcor2_execution_data.

[0.9.1] - 2020-10-19

Changed

• ARCOR2 dependency updated

Fixed

• fixed check for existing override

[0.9.0] - 2020-10-16

Changed

• WS API for updates of scene objects parameters and management of project-defined overrides.
• Integration tests refactored into multiple modules that can run in parallel.
• UpdateObjectPose and UpdateActionPointPosition now has dry_run.
• Box/Cylinder/Sphere models now have some constraints on their dimensions.

[0.8.0] - 2020-09-24

Changed

• The first release of the separated package.
• RPC/Events refactored.
• ARServer script now has --openapi argument and is able to generate OpenAPI models for RPCs and events.
• Detection of loops in: AP hierarchy, logic.
• Caching client for Project service.
• Proper handling of object inheritance.
• ObjectTypes are stored in temporary module on disk.
• Integration tests.