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Trossen AI Firmware 1.8.1 Changelog

  • Writer: Marc Dostie
    Marc Dostie
  • May 29
  • 2 min read

For the complete changelog, visit the Trossen Arm Documentation.


v1.8.1 – Trossen Arm Driver

  • Updated mode switching logic to no longer skip joints whose mode did not change.

  • This resolves trossen_arm#71, which caused unexpected arm movement during mode transitions.

  • The root cause was that the interpolation space resets to joint mode, requiring the interpolator to also reset. Without this, Cartesian values could be incorrectly interpreted as joint values.

⚠️ Note: Trossen Arm Driver v1.8.0 has been yanked due to potentially unsafe behavior on mode switching.


v1.8.0 – Trossen Arm Driver

  • New effort mode: Allows commanding joint efforts without built-in compensation, providing full control over joint efforts. Learn more.

  • Grouped outputs: Introduced trossen_arm::RobotOutput class, consolidating outputs with additional fields:

    • compensation_efforts

    • rotor_temperatures

    • driver_temperatures

    • cartesian.positions

    • cartesian.velocities

    • cartesian.external_efforts

  • Enhanced getter methods: Added methods to extract members of trossen_arm::RobotOutput, such as:

    • get_all_positions()

    • get_arm_positions()

    • get_gripper_position()

    • get_joint_position()

    • get_cartesian_positions()

    • ...and corresponding methods for velocities, efforts, external efforts, compensation efforts, rotor temperatures, and driver temperatures.

  • Deprecated old getters: The following methods are deprecated and will be removed in the next major release:

    • get_positions()

    • get_velocities()

    • get_efforts()

    • get_external_efforts()

    • get_compensation_efforts()

  • Cartesian input commands: Added methods for commanding Cartesian inputs with respect to a tool frame. Demonstrated in the following scripts:

  • Soft reboot capability: Enabled soft reboot of the controller via the driver. Demonstrated in the set_factory_reset_flag script.

  • Configuration enhancements: Added and revised configurations:

    • Added:

    • Removed:

      • continuity_factor in trossen_arm::JointCharacteristic

      • t_max_factor in trossen_arm::EndEffector

  • Improved driver-controller connection: Enhanced user-friendliness with retry mechanisms, timeouts, and allowing interruptions.

  • C++ data type update: Switched from float to double for all data types, improving compatibility with modern libraries.


Trossen Arm Controller Firmware

  • Effort mode support: Added the associated interface for the new effort mode.

  • Temperature outputs: Included rotor and driver temperatures in the output.

  • Soft reboot interface: Enabled soft reboot functionality.

  • Configuration interfaces: Exposed interfaces for new configurations.

  • Output checks: Implemented checks on outputs according to joint limits and on inputs for infinite values.

  • Removed deprecated checks: Eliminated the continuity check.

  • Robust communication handling:

    • UDP: Used exclusively for control.

    • TCP: Handles all other communication.

    • Connection loss: Controller returns to idle mode if the connection is lost.

    • Driver connections: Only one driver is accepted at a time.

  • Revised default configurations: Updated to more reasonable values, specifically for:


For further details and updates, please refer to the Trossen Arm Documentation.

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