Trossen AI Firmware 1.8.1 Changelog
- 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:
trossen_arm::EndEffector::pitch_circle_radius
trossen_arm::EndEffector::t_flange_tool
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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