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Release 2.3.0 of KINOVA ROS KORTEX repository in sync with KINOVA Gen3 and Gen3 lite release v2.3.0
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@alexvannobel alexvannobel released this 04 Jun 11:49
· 3 commits to kinetic-devel since this release
v2.3.0
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Learn about vigilant mode.

Release 2.3.0 is a common release for both the Gen3 and Gen3 lite robots.

It is important to note that:

  • The API is common to both robots.
  • The released features apply to both robots.
  • The firmware files are nonetheless specific per robot. The Gen3 SWU file cannot be uploaded on a Gen3 lite, and vice versa.

Download links

You can download the 2.3.0 firmware package:

  • for the Gen3 here
  • for the Gen3 lite here

You can download the 2.3.0 release notes:

  • for the Gen3 here
  • for the Gen3 lite here

You can download the most recent User Guide:

  • for the Gen3 here
  • for the Gen3 lite here

What's new

Robot features (see Release notes for more details)

  • Joint and cartesian waypoint support
  • Modbus communication protocol support for control commands
  • Improvements to Torque Control
  • Fixed a memory leak bug which would force the end user to reboot the arm after running a fixed number of Pre-Computed Joint Trajectories (seen by MoveIt users).

Changes to the ROS Kortex packages

  • The kortex_driver has been adapted to use the new Cartesian Waypoints API and offers an Action Server for playing Cartesian waypoint trajectories. An example has been added in kortex_examples for usage of that server, both in C++ and Python.
  • The kortex_driver has been adapted to use the new Joint Waypoints API and the Action Server for playing Joint Trajectories (used by MoveIt) has been modified to use that API instead of the pre-computed joint trajectories.
  • As a direct consequence of the previous point, the MoveIt configuration for all arms has been adapted to use the AddIterativeSplineParameterization Time Parametrization algorithm, which fixes the problem of trajectories being rejected because velocity or acceleration values exceed the limits of the robot. This also makes MoveIt create trajectories much more in line with the robot's limits, as previous implementations forced velocity and acceleration limits to be tuned down for these errors to be avoided.
  • The fix to the memory leak bug (which directly impacted MoveIt users) now enables the arm to properly run MoveIt trajectories in a loop without facing a mandatory reboot after some time.
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