🚀 Distro 2024.05.0 Released

[Nicogene]

2024.05.0 Distro Announcement

Brief description of the announcement

Hello @robotology/everyone 👋

The iCub project is happy to announce our Software Distro 2024.05.0 📦

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

🔘 IMU test

We improved the imu-test of icub-tests as follow:

• Added pixi support
• Added the possibility of testing multiple sensors simultaneously
• Added the possibility to log the data via robometry
• Added a MATLAB live script for generating the test report

🔘 ergocub-software YAML refactoring

In ergocub-software we reduced the redundancy of YAML configuration files used for URDF generation.
To do so we refactored them for using the includes clause of creo2urdf:

• Add includes parameter icub-tech-iit/creo2urdf#91
• Refactor YAMLs for using the includes creo2urdf parameter icub-tech-iit/ergocub-software#240

🔘 ergoCub configuration files refactored

By leveraging on the YRI tags enable_by and disable_by, @traversaro helped cleaning up the ergoCub configuration files quite significantly.

For further information, refer to:

• Cleanup ergocub configuration files using enable_by and disable_by yarprobotinterface tags robots-configuration#641
• Cleanup yarprobotinterface conf files for ergoCub robots-configuration#645

🔘 New joint coupling's sw architecture available on ergoCub

In the previous distro, we presented the new sw architecture for handling the coupling in underactuated systems, in this one we managed to complete the whole sw stack for publishing the physical joints quantities of ergoCub robot:

• ControlBoardCouplingHandler: a device for publishing phyisical joints quantities in under-actuated system yarp#3085

🔘 Handling of the overcurrent flag on the AMCBLDC

The architectural model of the AMCBLDC is now able to handle the overcurrent flag correctly as per protocol.

• Handling of overcurrent flag icub-firmware-models#83

🔘 gz-sim-yarp-plugins now available

gz-sim-yarp-plugins package contains YARP plugins for Modern Gazebo. The project is still in an early version, for this reason, we would appreciate your feedback to improve them and add missing functionalities (by opening an issue here). Some guides are already available, for example:

• How to simulate ergoCub in Modern Gazebo
• How to migrate from Gazebo Classic and gazebo-yarp-plugins

Note: This project is also available as a conda-forge package.