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The iCub project is happy to announce our Software Distro 2025.05.0 📦
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.
A new group and parameter can now be added to the general.xml configuration file. Specifically we can have a new group called MAINTENANCE, which now host a boolean parameter defined as: skipRecalibration. Moreover, since that parameter is defined with external-name, its value can be also be overridden when launching the yarprobotinterface by adding the option: --skipRecalibration <value> (where <value> can be either true or false).
If enabled it allows a user to skip the calibration procedure on all enabled joints if:
the joints have completed the calibration correctly the first time
the boards are not switched-off
In this manner, if one needs to work on the robot and does not need to change low level parameters, it won't need to continuously re-run the calibration procedure each time the yarprobotinterface restarts but all the joints will be first set in IDLE at the restart, so that one can then move them to the desired control mode.
🔘 Calibration improvements
Reduced the calibration time.
If a joint fails either calibration or the attainment of its startup position during the calibration process, the other joints within the same set will then operate with their nominal PWM maximum, as opposed to the restricted value used previously.
🔘 FW Models
@RaffaelePumpo's first contribution 🎉 was about streamling the computation required to estimate velocity from position feedback.
We recently spotted a disalignment between the FW models and the generated code about the handling of the STATUS message. This PR fixed a regression in this respect.
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2025.05.0 Distro Announcement
Brief description of the announcement
Hello @robotology/everyone 👋
The iCub project is happy to announce our Software Distro 2025.05.0 📦
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
🔘 ergoCub models tweaks and fixes
The ergoCub URDF models got some important changes:
gz-sim
rgbd sensor plugin (https://github.com/ergocub-software/pulls/302).ergoCubSN002
andergoCubGazeboV1_3
has been modified in order to include the neck mk3 (https://github.com/ergocub-software/pulls/311).*_minContacts
models are usable also ingz-sim
since the 0 dimension collision issue has been solved (https://github.com/ergocub-software/pulls/314)🔘 SkipRecalibration feature
A new group and parameter can now be added to the
general.xml
configuration file. Specifically we can have a new group calledMAINTENANCE
, which now host a boolean parameter defined as:skipRecalibration
. Moreover, since that parameter is defined withexternal-name
, its value can be also be overridden when launching theyarprobotinterface
by adding the option:--skipRecalibration <value>
(where<value>
can be eithertrue
orfalse
).If enabled it allows a user to skip the calibration procedure on all enabled joints if:
In this manner, if one needs to work on the robot and does not need to change low level parameters, it won't need to continuously re-run the calibration procedure each time the
yarprobotinterface
restarts but all the joints will be first set inIDLE
at the restart, so that one can then move them to the desired control mode.🔘 Calibration improvements
🔘 FW Models
🔘 Robots Mainteinance
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