Software Updates

This topic’s purpose is to notify about updates of various software components related to Leo Rover.

Leo Image

Ubuntu image that is running on the robot’s main computer (Raspberry Pi 3 or 4).
The releases can be downloaded from here.

Summary of changes

2020-02-12

  • changed the way ROS nodes are started at boot to provide a more user-friendly mechanism for adding new functionalities
  • updated leo_bringup and leo_description packages

2020-02-08

  • fixed the issue that caused the Access Point to not start
  • installed python-catkin-tools package

2019-11-27

  • added support for Raspberry Pi 4 (fixed wi-fi problem, updated boot config)
  • updated leo ROS packages

2019-10-02

  • disabled Bluetooth
  • increased UART clock frequency to maximum
  • updated leo_bringup

2019-09-04

  • disabled husarnet-configurator service
  • updated Raspberry Pi kernel
  • updated leo_bringup and leo_ui

2019-07-15

2019-06-07

  • added fictionlab repository to apt lists
  • added ROS environment variables exports in .bashrc file
  • leo_bringup and raspicam_node ROS packages are now installed from fictionlab repository
  • DNS server (dnsmasq service) now resolves husarion hostname to 10.0.0.1 IP address
  • /opt/leo_ui directory is now owned by husarion user

leo_firmware

A program that is running on the CORE2 board. It exposes the robot’s capabilities, such as differential drive controller or servo control, to the main computer.
The release files and detailed description of changes can be found here

Summary of changes

v0.5.1 - 2019-10-21

  • [IMU] added gyro bias to persistent config

v0.5 – 2019-10-02

  • lowered serial communication baudrate
  • abandoned the use of covariance matrices to reduce bandwidth

v0.4 – 2019-09-04

  • abandoned hCloud support
  • added parameter preset for Buehler motors
  • added covariance to wheel odometry
  • added MPU9250 IMU support
  • added persistent storage config
  • added system topics

v0.3 – 2019-08-07

  • more accurate speed measurement
  • improved odometry calculation
  • added joint states publishing
  • changed some coding conventions

v0.2 – 2019-07-08

  • added torque limit parameter
  • updated servo parameters default values

v0.1 – 2019-06-02

  • added support for the informative LED
  • added power limit parameter
  • added debug variable
  • [fix] check array length in PWM callback

leo_bringup

A ROS package that contains scripts, launch files and configuration that enables starting the base functionality of Leo Rover.
The package sources are available here.

Summary of changes

0.6.0 - 2020-02-12

  • changed camera frame id to camera_frame
  • added upload_description argument to leo_bringup.launch file

leo_description

A ROS package that contains Leo Rover’s model in URDF format.
The package sources are available here.

Summary of changes

0.2.0 - 2020-02-12

  • exported new, more up-to-date part models in COLLADA format
  • added rviz.launch file
  • changed camera link name to camera_frame

2020-02-08 updates

New Leo Image released! Download it from here.

Leo Image

fixed the issue that caused the Access Point to not start

NetworkManager sometimes took control of the external wireless interface due to udev not changing the interface name in time. The issue was resolved by delaying the start of the NetworkManager service at boot.

installed python-catkin-tools package

The package that provides catkin commands is now installed by default.

2020-02-12 updates

New Leo Image released! Download it from here.

leo_description

exported new, more up-to-date part models in COLLADA format

The new part models resemble more the current version of Leo Rover. They are more detailed and contain color information as opposed to the previous version. The model of the base link was exported in such a way that the origin is placed in a known, fixed location to provide a good point of reference for child links.

added rviz.launch file

This launch file starts RViz with the configuration that shows the current robot model. It provides a quicker way to visualize the current state of Leo.

changed camera link name to camera_frame

The link name was changed to comply with the established naming conventions which say that the names of links that don’t have any visual properties and are only used as a reference frame, should end with a _frame keyword.

leo_bringup

changed camera frame id to camera_frame

The camera images are now published with the frame_id parameter set to camera_frame. The change was made to comply with the newer version of leo_description.

added upload_description argument to leo_bringup.launch file

This parameter controls whether to upload the URDF model to the Parameter Server. Setting this to false is useful when the robot description is provided externally.

Leo Image

changed the way ROS nodes are started at boot to provide a more user-friendly mechanism for adding new functionalities

The user now can easily modify the set of nodes that are started at boot and the robot description that is uploaded to the Parameter Server without building any packages. The behavior can be adjusted by modifying the files located at the /etc/ros/ directory. More of that will be covered soon at the ROS Development tutorial.

updated leo_bringup and leo_description packages