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@Kotochleb Kotochleb released this 29 Mar 15:46
· 173 commits to ros1 since this release
1.0.0
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Learn about vigilant mode.

Panther ROS v1.0.0

This software is compatible with all Panther versions, the only requirement is an update to the latest system image. The software automatically detects the hardware revisions of robots and launches the correct software stack according to the configurations.

Panther Battery

Battery logging has been improved, with the ability to self-detect the presence of a second battery and estimate the battery state accurately.

Panther Bringup

All launch files and global robot configurations are now stored in a single package.

Panther Description

A revised version of the URDF model of the robot has been included with the following features:

  • Optimized visual meshes for good appearance and low resource consumption.
  • A simplified yet accurate collision mesh.
  • A user interface for non-standard wheels.
  • Transforms aware of robot revisions.
  • Predefined user-space transforms to simplify the attachment of user components.
  • A predefined variety of sensor models found in husarion/ros_components_description.

Panther Driver

The driver node has been improved with the following features:

  • CAN bus logging with extended motor controller information.
  • Accurate /joint_state message with torque estimation.
  • Extended error handling.

Panther Gazebo

The URDF-based simulation model has been tightly integrated with the simulation model for best performance and sim2real accuracy.

Panther Lights

A new scalable LED animation system has been introduced with the following features:

  • A priority queue of animations.
  • Easily scalable animation definitions with YAML syntax.
  • Animations can be dynamically defined based on images or Python 3 functions.
  • Predefined animations for:
    • Ready robot,
    • Emergency stop,
    • Charging,
    • Battery state,
    • Low battery,
    • Critical battery.
  • Ability to test animations in RViz without a physical robot.
  • Animations can be defined at runtime.

Panther Manager

A new system monitor has been added, extending the safety of the robot with the following features:

  • Automatic temperature control of internal components.
  • Automatic detection of critical conditions and emergency stopping.
  • Soft shutdown of user computers.

Panther Power Control

The network usage has been optimized with reduced numbers of sent messages via ROS topics. The safety has been improved with false-positive pin state detection filtering.

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