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Release 2.0.0 of the KINOVA KORTEX repository
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@alexvannobel alexvannobel released this 13 Aug 12:39
· 37 commits to master since this release
v2.0.0
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Learn about vigilant mode.

Release 2.0.0 of KINOVA KORTEX repository in sync with KINOVA Gen3 Ultra lightweight robot version 2.0.0

Download links

You can download the 2.0.0 firmware package for the Gen3 here.
You can download the 2.0.0 release notes for the Gen3 here.
You can download the 2.0.0 Kortex API for the Gen3 here.

Compatibility break with v1.1.6

The Kortex API in v2.0.0 now uses TCP transport for all services except Cyclic services (BaseCyclic, ActuatorCyclic), meaning:

  • In C++, you will have to replace the TransportClientUdp class with TransportClientTcp.
    You can have a look at one of the C++ cyclic examples to see the change. You can read more about the Transport classes in the dedicated Markdown file.
  • In Python, you will have to replace the UDPTransport class with TCPTransport. You can have a look at the new utilities.py helper to see the change. You can read more about the Transport classes in the dedicated Markdown file.

What's new

  • New Python and C++ examples have been added for:
    • The Interconnect module's Expansion IO's : Ethernet bridging, UART expansion, GPIO expansion and I2C expansion
    • The Robotiq gripper position and velocity control
    • Low-level torque control and low-level actuator control
    • Vision module configuration
    • Angular velocity control of all the joints
  • A new utilities external Python module has been added as a helper to automatically create the Kortex API objects. We plan on adding internal helpers in the Kortex API in a future release.
  • Updated the auto-generated documentation for the API.
  • Updated the installation, setup and build instructions.
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