Release Notes

0.6.0

New Features

  • OutdoorNav ROS API updated. API now divided into Platform and Autonomy sections. See API Overview for more details.

  • Simulation environment created with charge dock, base station and camera plugins

  • Added deviation path visualization to UI when constrained replanning is enabled

  • Modified goalpoint icons to reflect tasks assigned to them

  • Added the ability to record rosbags from UI

  • Added GPS signal strength to status page

  • Added improvements to PTZ controls (cosmetic changes, ability to disable zoom, added a reset mark)

  • User can set map source from OpenStreet, MapBox, Bing Maps, or custom map tiles through UI

Bug Fixes

  • 632: Prevent users from changing mission while a mission is running

  • 661: Removed map view when no map is provided in default-state.json file

  • 712: Fixed front end hanging when user opens menu from any view other than main view

  • 716: Removed connecting lines from disabled goals

Known Issues

  • 131: Software upgrade process not documented fully

  • 609: Realsense D435 collision avoidance not fully tuned

  • 751: Wireless icon in UI doesn’t work for Ubiquity hardware

  • 756: Waypoints stop turning grey when they are hit if a waypoint is skipped

0.5.0

New Features

  • Sensor Kit Options: Starter, Standard, Backpack

  • New localization module

  • Added support for UBlox F9K and F9P GNSS receivers in the localization module

  • Added support for either single or dual Swiftnav Duro/Piksi GNSS receiver(s) in the localization module

  • Added support for Realsense D435 camera in collision avoidance module

  • New/updated user modifiable environment variables for sensor and navigation tuning

  • Added a Virtual Guided tour of the application for first time users

  • Added StreetView and Bing map tiles (to existing MapBox tile)

  • Allow users to specify custom map tile source

  • Added cosmetic changes to traversed waypoints as well as a robot status icon with ROS topic health information

Bug Fixes

  • 253: Replace default camera image for camera views when stream is unavailable

  • 281: Fixed navigation latched in a PAUSE state

  • 574: Fixed map settings page to not rerender when robots position changes

Known Issues

  • 131: Software upgrade process not documented fully

  • 609: Realsense D435 collision avoidance not fully tuned

0.4.0

New Features

  • Improved wireless charger docking workflow and added ROS Noetic docking support

  • Added option to record videos from cameras

  • Improved Docker setup to allow concurrent installation with IndoorNav

  • Added initial support for integration with Formant

  • Added Docker installation support for Jackal and Warthog robots

Bug Fixes

  • 480: Added rate limiter for continuous planner

  • 490: Fixed base station survey pop up to better reflect survey time

Known Issues

  • 131: Software upgrade process not documented fully

0.3.0

New Features

  • Upgraded from ROS Melodic to ROS Noetic

  • Published initial performance metrics

  • Updated system architecture to work in Docker containers

Bug Fixes

  • 266: Allowed map offsets to be set more than once without needing to reset them back to zero

  • 365: Updated costmap to handle large stop distances properly

  • 377: Fixed handling of goal tolerances of 0.02m or less

  • 389: Fixed issue with goal being skipped in some cases where final heading was specified

Known Issues

  • 131: Software upgrade process not documented fully

  • 150: Docking not yet implemented in Noetic