v1.5.1

COMPATIBILITY

• Flexiv software package v3.7.1

ADD

• Expose read/write of the two pairs of digital input/output ports inside the robot's wrist connector.
• Add input parameter network_interface_whitelist to rdk::Robot constructor to allow limiting the network interface(s) that can be used for establishing connection with the robot.
• Add input parameter properties to Robot::ExecutePrimitive().
• Add struct JPos to represent the customized data type JPOS in Flexiv Elements. Update examples accordingly.

CHANGE

• Remove linking to fastcdr, not needed.
• Use shared steps in GitHub workflow.
• Use GitHub-hosted runner for macOS workflow jobs.
• Improve resource efficiency of background communication services.
• Update README.

FIX

• Fix definition for member of rdk::Coord struct.
• Fix a bug that causes occasional "Failed to sync server version" error when trying to establish connection with the robot.

v1.5

COMPATIBILITY

• Flexiv software package v3.7

ADD

• Add support to use Cartesian motion-force control modes with the Moonlight delta robot.
• Add an overload of Robot::SetGlobalVariables() that takes in an std::map instead of a long string. The old version will be deprecated.
• Add an overload of Robot::global_variables() that returns an std::map instead of a string list. The old version will be deprecated.
• Add an overload of Robot::ExecutePrimitive() that takes in an std::map instead of long sting. The old version will be deprecated.
• Add an overload of Robot::primitive_states() that returns an std::map instead of a string list. The old version will be deprecated.
• Add type alias FlexivDataTypes to represent a variant that holds all possible types of data exchanged with Flexiv robots using the new overloaded functions above.
• Add utility::FlexivTypes2Str() to convert data held in FlexivDataTypes to a single string.
• Add rdk::Coord struct to be used with FlexivDataTypes variant.
• Add function Robot::SetNullSpaceObjectives() to set weights of the three optimization objectives while computing the robot's null-space posture.
• Add API flexiv::rdk::WorkCoord to online update and interact with the robot's work coordinates (#58, #66).
• Add enum rdk::CoordType to represent commonly-used reference coordinates.
• Add Robot::operational_status() with enum return type (#67, #81).
• Add Robot::reduced() to check for safety system's reduced state (#67).
• Add new input parameter block_until_started to Robot::ExecutePlan() and Robot::ExecutePrimitive() (#76).
• Add input parameter velocity to Robot::StreamCartesianMotionForce() so users have the option to improve the robot's tracking performance at the cost of reduced robustness or vice versa.
• Add Device::exist() to check if the specified device exists.
• Add Model::SyncURDF() to cync the actual kinematic parameters of the connected robot into the template URDF (#82).
• Add RobotInfo::license_type.
• Add external axes states to RobotStates.
• Add RobotStates::ext_wrench_in_tcp_raw and RobotStates::ext_wrench_in_world_raw that contain unfiltered external wrench data.
• Add C++ and Python examples for global variable functions.
• Add urgency scale to feature request template.

CHANGE

• Allow Robot::SetGlobalVariables() to be called in any control mode instead of only in NRT_PLAN_EXECUTION mode.
• Change Robot::SetCartesianImpedance() to blocking, and the robot will not reset to nominal Cartesian impedance upon re-entering the applicable control modes; the setting will persist.
• Remove Robot::ResetCartesianImpedance(), the user has enough info to reset the impedance using Robot::SetCartesianImpedance().
• Change Robot::SetJointImpedance() to blocking, and the robot will not reset to nominal joint impedance upon re-entering the applicable control modes; the setting will persist.
• Remove Robot::ResetJointImpedance(), the user has enough info to reset the impedance using Robot::SetJointImpedance().
• Change Robot::SetMaxContactWrench() to blocking, and the robot will not reset to disable contact wrench regulation upon re-entering the applicable control modes; the setting will persist.
• Remove Robot::ResetMaxContactWrench(), the user has enough info to disable contact wrench regulation using Robot::SetMaxContactWrench().
• Change Robot::SetNullSpacePosture() to blocking.
• Remove Robot::ResetNullSpacePosture(), the user has enough info to reset to initial reference positions using Robot::SetNullSpacePosture().
• Change Robot::SetForceControlAxis() to blocking, and allow it to be called when in motion force-control modes.
• Change Robot::SetForceControlFrame() to blocking, and allow it to be called when in motion force-control modes.
• Support setting a user-defined arbitrary force control frame with regard to either WORLD or TCP frame using Robot::SetForceControlFrame() (#78).
• Change Robot::SetPassiveForceControl() to blocking.
• Flip the force command direction in motion-force control modes to make the behavior consistent with Flexiv Elements.
• Throw exception in Tool::Add(), Tool::Switch(), Tool::Update(), Tool::Remove(), and Tool::params() if the specified tool does not exist.
• Throw exception in Device::Enable(), Device::Disable(), and Device::Command() if the specified device does not exist.
• Throw exception in Device::Command() if the commanded device is not enabled.
• Device::Command() uses variant to represent command values.
• Remove mandatory blocking of Gripper::Init(), user needs to implement the wait accordingly.
• Change enum Mode to scoped enum class Mode.
• Use Robot::SetDigitalOutputs() to deprecate WriteDigitalOutput().
• Use Robot::digital_inputs() to deprecate ReadDigitalInput().
• Remove utility::ParsePtStates(), no longer needed.
• The "Home" primitive now does not terminate by itself, thus change termination check condition from busy() == false to reachedTarget == true.
• Update warning doc of Robot::ExecutePrimitive() about primitives' self-termination.
• Internal plans (those not created by user) now cannot be resumed from pause due to safety concerns.
• Remove input parameter trailing_space from utility::Vec2Str() and Arr2Str().
• Change the term "preferred positions" to "reference positions" to be consistent with Flexiv Elements.
• Decrease the nominal rotation stiffness from 3000 to 1500 Nm/rad for Rizon 4 variants and from 6000 to 3000 Nm/rad for Rizon 10 varients due to stability concerns.
• Remove excessive prints.
• Update API usages in examples.
• Update website links.

FIX

• Fix cmake/FlexivInstallLibrary.cmake that exports the wrong project version.
• Specify -DCMAKE_PREFIX_PATH in thirdparty build scripts so they don't accidentally link to existing dependencies in system path.
• Fix connection loss with the robot when network condition is bad.
• Fix the issue where spdlog's log level is not reset when the construction of rdk::Robot is incomplete.

v1.4

NOTE

This release note is based on changes since v1.3. If you are switching from v0.x to v1.x for the first time, you might want to review all release notes since the v1.0 pre-release,

COMPATIBILITY

• Flexiv software package v3.6

ADD

• Add sub-namespace: flexiv:: now becomes flexiv::rdk::.
• Add support for Rizon medical model Rizon4M.
• Add support for the force-controlled delta robot Moonlight.
• Add support of flexiv::rdk::Model API for Python RDK. Add intermediate5_robot_dynamics.py example accordingly.
• Add installation of Python RDK libraries to the user site packages path, using CMake. Remove sys.path.insert() from Python examples accordingly.
• Add RobotInfo::K_q_nom, nominal motion stiffness of the joint impedance control modes of the connected robot.
• Add RobotInfo::model_name, model name of the connected robot, e.g. Rizon4, Rizon10, Moonlight, etc.
• Add RobotInfo::DoF, joint-space degrees of freedom of the connected robot. Remove kJointDOF constant accordingly. The joint DoF now varies according to the model of the connected robot. Update examples accordingly.
• Add real-time joint impedance (RT_JOINT_IMPEDANCE) and non-real-time joint impedance (NRT_JOINT_IMPEDANCE) control modes. Add intermediate2_realtime_joint_impedance_control.cpp and intermediate2_non_realtime_joint_impedance_control.py examples accordingly.
• Add Robot::SetJointImpedance() and Robot::ResetJointImpedance() that sets and resets stiffness and damping ratio of the robot's joint motion controller used in the joint impedance control modes.
• Add Robot::Brake() to force engaging or releasing robot brakes during normal operation. Only available to the medical model.
• Add Model::reachable() to check reachability of a given Cartesian pose and return the corresponding IK solution if reachable.
• Add error code prefix to Robot Log messages.
• Add new dependency spdlog to replace the flexiv::Log API. Update examples and tests accordingly.
• Add new C++ example to show how to change logging behavior of RDK client, as well as how to log to file.
• Add input parameter separator to utility::Arr2Str().
• Add utility::Vec2Str().

CHANGE

• Change header file extension from .h to .hpp to prevent C++ IntelliSense tool from mistaking certain system headers for RDK headers.
• To accommodate the newly added support of the Moonlight delta robot, change joint-space variables in RobotInfo and RobotStates data structures from fixed-size arrays to dynamic-size vectors. Also change input arrays of Robot::StreamJointTorque(), Robot::StreamJointPosition(), Robot::SendJointPosition(), Robot::SetJointImpedance(), Robot::SetNullSpacePosture(), and Model::Update() to vectors. Update examples accordingly.
• Rename RobotInfo::nominal_K to RobotInfo::K_x_nom.
• Update function documentation of Robot::StreamJointPosition() and Robot::SendJointPosition() to include joint impedance control modes.
• Change Robot::SetCartesianStiffness() to Robot::SetCartesianImpedance() and Robot::ResetCartesianStiffness() to Robot::ResetCartesianImpedance(). Cartesian motion damping ratio is added as a new input parameter. Update examples accordingly.
• Rename kCartDOF to kCartDoF. Update examples accordingly.
• Update Robot::ClearFault() to support clearing critical robot faults, if the hardware for hot-reset is installed.
• Increase nominal Cartesian stiffness of Rizon 4 series from [10000-1000] to [10000-2500], and Rizon 10 series from [20000-2000] to [20000-6000].
• Greatly reduce blocking time of Robot::ExecutePrimitive(), Robot::ExecutePlan(), Robot::SwitchMode(), and Tool:: functions.
• Use pip installed spdlog in Python examples.
• Merge PrintDescription() to main() in all examples.
• Change maxVel= to vel= in primitive execution examples.
• Use f-string formatting in Python examples.
• Upgrade doc/Doxyfile.in.
• Improve function documentations.
• Improve README.
• Improve dependencies build script.

FIX

• Fix Robot::global_variables() does not return updated values if called immediately after Robot::SetGlobalVariables().
• Fix a bug where re-switching control mode before sending commands is not enforced after disconnected then reconnected with the robot.
• Fix a bug in test/test_dynamics_engine.cpp.
• Fix keyboard interruption handling for Python examples.
• Fix compatibility issue with Eigen for Python 3.12 libraries.

v0.10

COMPATIBILITY

• Flexiv software package v2.11.5

ADD

(None)

CHANGE

• Change the behavior of Robot::setNullSpacePosture(). Before: null-space posture will be reset to default upon entering the applicable control modes. Now: null-space posture will maintain the current posture upon entering the applicable control modes (#45).
• Provide explicit safe values for the input parameters of Robot::sendCartesianMotionForce().
• Increase nominal Cartesian stiffness of Rizon 4 and its variants from [linear: 6000 N/m, angular: 400 Nm/rad] to [linear: 10000 N/m, angular: 1000 Nm/rad].
• Increase nominal Cartesian stiffness of Rizon 10 and its variants from [linear: 12000 N/m, angular: 1200 Nm/rad] to [linear: 20000 N/m, angular: 2000 Nm/rad].
• Use MSVC 14.1 (VS 2017) to compile Windows libraries (#46).
• Improve code documentation.

FIX

• Fix a bug in Robot::getPrimitiveStates() that has a chance to cause program crash (#47).
• Fix a bug in Robot::switchTcp() that causes this function unable to deliver the command.

v1.3

COMPATIBILITY

• Internal pre-release

ADD

• Add new API flexiv::Device for general device control over RDK.
• Add Robot::mu_log() to access the multilingual log messages of the connected robot; remove Robot::getErrorMessage() accordingly.
• Add Robot::SetVelocityScale() as a standalone function to change velocity scale during plan/primitive execution; remove velocity_scale input parameter from Robot::ExecutePlan() and Robot::ExecutePrimitive() accordingly.
• Add input parameter acceleration to Robot::StreamCartesianMotionForce() to feed-forward target TCP acceleration.
• Add input parameters max_linear_acc and max_angular_acc to Robot::SendCartesianMotionForce().
• Provide explicit default values to input parameters of Robot::SendCartesianMotionForce().
• Add bool return to Robot::ClearFault() to indicate whether the fault is cleared successfully; update usage in examples accordingly.
• Add Gripper::moving() to replace GripperStates::isMoving.
• Add Gripper::Init() to manually trigger gripper initialization; update gripper control examples accordingly.
• Add string names array kModeNames for robot control modes.
• Add more supported formats for robot SN input when constructing flexiv::Robot.

CHANGE

• Update format requirement of input parameter with ARRAY_COORD type for Robot::ExecutePrimitive().
• Adopt the Google C++ Style Guide globally.
• Increase nominal Cartesian stiffness of Rizon 4/4s from 6000/400 to 10000/1000, Rizon 10/10s from 12000/1200 to 20000/2000.
• Replace Robot::getRobotStates() with Robot::states() direct accessor.
• Replace Robot::getMode() with Robot::mode() direct accessor.
• Replace Robot::getPlanNameList() with Robot::plan_list() direct accessor.
• Replace Robot::getPlanInfo() with Robot::plan_info() direct accessor.
• Replace Robot::getGlobalVariables() with Robot::global_variables() direct accessor.
• Replace Robot::getPrimitiveStates() with Robot::primitive_states() direct accessor.
• Rename Gripper::getGripperStates() to Gripper::states().
• Rename Tool::switchTo() to Tool::Switch().
• Rename Tool::getToolList() to Tool::list().
• Rename Tool::getCurrentToolName() to Tool::name().
• Rename Tool::getToolParams() to Tool::params(); add function overload for Tool::getCurrentToolParams().
• Rename functions in flexiv::Model to math symbol representations.
• Revert Windows action runner version to 2022 as the MSVC compatibility issue is fixed. Remove temporary warning from README accordingly.
• Remove RobotInfo::qHome.
• Improve API docs.
• Update examples and tests with new function naming.
• Bump supported Python version from 3.8/3.10 to 3.10/3.12.
• Update .gitignore.
• Update Windows compilation toolkit requirement in README.

FIX

• Fix singularity bug under NRT_CARTESIAN_MOTION_FORCE control mode (#42).
• Fix data corruption when requesting primitive states (#47).
• Fix discontinuous null-space posture transition (#45).
• Fix robot tool update examples.
• Fix control mode mismatch bug in real-time control modes.
• Upgrade Fast-DDS version to v2.6.7, this fixed the compatibility issue with MSVC v143 (Visual Studio 2022).
• Remove incorrect comment from basics3_primitive_execution.py.

v0.9.1

COMPATIBILITY

• Flexiv software package v2.11.3

ADD

(None)

CHANGE

(None)

FIX

• Fix a bug where the second consecutive plan execution command won't execute.

v1.2

COMPATIBILITY

• Internal pre-release

ADD

• Add API access of flexiv::Model to Windows.
• Add new API flexiv::Tool to online update the robot tools. Add C++ and Python examples.
• Add ToolParams data struct to Data.hpp.
• Add new API flexiv::FileIO to do file transfer with the robot.
• Add Robot::setBreakpointMode() and Robot::stepBreakpoint() to do breakpoint control when executing plans.
• Add PlanInfo::waitingForStep variable to indicate breakpoint status.
• Add more generic Cartesian motion-force control modes RT/NRT_CARTESIAN_MOTION_FORCE to replace the old ones which are RT/NRT_CARTESIAN_MOTION_FORCE_TCP and RT/NRT_CARTESIAN_MOTION_FORCE_BASE.
• Add functions to configure force control parameters for the new Cartesian motion-force control modes: Robot::setForceControlAxis(), Robot::setForceControlFrame(), and Robot::setPassiveForceControl().
• Add behavior description to the function doc of Robot::sendJointPosition().
• Add input parameter continueExec to Robot::executePlan() to specify whether to continue executing the plan when the RDK program is closed or the connection is lost. Set this parameter to true in the plan execution examples.
• Add Robot::isEnablingButtonPressed() to check if the enabling button on the robot motion bar is pressed.
• Add Robot::getErrorMessage() to get error message if the robot is in fault state.
• Add Model::reload() to sync the latest robot model and tool model data from the connected robot.
• Add Scheduler::minPriority() to get the OS' minimum available priority for user tasks.
• Add check on user-specified task priority against the OS' minimum available priority to Scheduler::addTask().
• Add [Blocking] or [Non-blocking] tag to function doc.
• Overload Gripper::getGripperStates() with a variant that directly returns GripperStates data struct.
• Overload Robot::getRobotStates() with a variant that directly returns RobotStates data struct.
• Add GitHub workflow for macOS build.

CHANGE

• Split RDK license to Standard license and Professional license. The standard license provides access to essential and non-real-time functionalities such as reading robot states, sending plan/primitive commands, etc. The professional license provides access to everything included with the standard license, plus robot dynamics and real-time functionalities such as joint torque/position streaming, Cartesian motion/force streaming, etc.
• Change Robot::streamCartesianMotionForce() and Robot::sendCartesianMotionForce() to use the same controller as MoveHybrid primitive. Update Cartesian motion-force control examples accordingly.
• Change Robot::getPlanInfo() to return PlanInfo data struct directly.
• Change the term "base" to "world" when referring to the robot's global coordinate.
• Change RobotStates::extWrenchInBase to RobotStates::extWrenchInWorld.
• Make the effect of Robot::setNullSpacePosture() persistent: not resetting preferred joint positions to nominal when switching modes.
• Remove input parameter isBlocking from Scheduler::start(), the user should implement their own blocking from the calling thread if needed. Update examples accordingly.
• Remove check on elapsed waiting time of Robot::isOperational() from the examples.
• Remove RobotStates::camPose: the ownership of camera pose is transferred to Noema AI system.
• Merge test_dynamics_with_tool into test_dynamics_engine.
• Improve function docs.
• Remove Ubuntu 18.04 from supported OS list.
• Rename C++ libs to the same pattern as the Python libs.
• Format Python examples using Black Formatter.
• Update MSVC compatible version in README.

FIX

• Fix a root link bug in flexiv::Model.
• Fix memory leak of flexiv::Scheduler.
• Fix initial timer fluctuation of flexiv::Scheduler.
• Fix Robot::runAutoRecovery().

v0.9

COMPATIBILITY

• Flexiv software package v2.11.3

ADD

• Add notification service to receive and print info/warning/error messages that would also be prompted in the Elements UI (#29).
• Add new input parameters maxLinearVel and maxAngularVel input parameters to Robot::sendCartesianMotionForce() to specify maximum Cartesian linear and angular velocity when moving to the target pose.
• Add Robot::setMaxContactWrench() to specify the maximum contact wrench for the motion control part of the Cartesian motion-force control modes. Also add Robot::resetMaxContactWrench() to disable max contact wrench regulation.
• Add more generic Cartesian motion-force control modes RT/NRT_CARTESIAN_MOTION_FORCE to replace the old ones which are RT/NRT_CARTESIAN_MOTION_FORCE_TCP and RT/NRT_CARTESIAN_MOTION_FORCE_BASE.
• Add functions to configure force control parameters for the new Cartesian motion-force control modes: Robot::setForceControlAxis(), Robot::setForceControlFrame(), and Robot::setPassiveForceControl().
• Add behavior description to the function doc of Robot::sendJointPosition().
• Add input parameter continueExec to Robot::executePlan() to specify whether to continue executing the plan when the RDK program is closed or the connection is lost. Set this parameter to true in the plan execution examples.
• Add optional verbose warning print to Robot::isOperational() to indicate why the robot is not operational when this function returns false.
• Add Robot::isEnablingButtonPressed() to check if the enabling button on the robot motion bar is pressed.
• Add Model::reload() to sync the latest robot model and tool model data from the connected robot.
• Add Scheduler::minPriority() to get the OS' minimum available priority for user tasks.
• Add check on user-specified task priority against the OS' minimum available priority to Scheduler::addTask().
• Add [Blocking] or [Non-blocking] tag to function doc.
• Add Log::critical() to print critical error message.
• Add utility::arr2Str().

CHANGE

• Change Robot::streamCartesianMotionForce() and Robot::sendCartesianMotionForce() to use the same controller as MoveHybrid primitive. Update Cartesian motion-force control examples accordingly (#35).
• Divide Robot::setCartesianStiffness() to setCartesianStiffness() and resetCartesianStiffness().
• Divide Robot::setNullSpacePosture() to setNullSpacePosture() and resetNullSpacePosture().
• Change Robot::readDigitalInput() to read all digital input ports at once. Also change it from a non-real-time blocking function to a real-time non-blocking function (#27).
• Change Robot::writeDigitalOutput() to support writing to one or multiple digital output ports at once.
• Change Robot::enable() to print warning instead of throwing exception if E-Stop is not released.
• Change Gripper::getGripperStates() from a non-real-time blocking function to a real-time non-blocking function (#25).
• Change the term "operation mode" to "control mode" to avoid confusion with the robot's Auto/Manual operational mode.
• Replace Robot::startAutoRecovery() with Robot::runAutoRecovery(), which blocks until the automatic recovery process is finished. Update examples accordingly.
• Remove input parameter gravityEarth from the constructor of flexiv::Model. The value will now be auto-synced from the connected robot.
• Remove input parameter isBlocking from Scheduler::start(), the user should implement their own blocking from the calling thread if needed. Update examples accordingly.
• Rename Model::updateModel() to Model::update(). Update examples accordingly.
• Remove check on elapsed waiting time of Robot::isOperational() from the examples.
• Improve function docs.
• Increase CMake minimum version to 3.16.3.
• Rename C++ libs to all lower-case.
• Remove Ubuntu 18.04 from supported OS list.
• Format Python examples using Black Formatter.

FIX

• Fix occasional false negative of Robot::isBusy() (#26).
• Reduce mode transition time when calling Robot::setMode().
• Fix a gripper control bug where the primitive/plan loses control of the gripper after any function from flexiv::Gripper API is called.
• Fix memory leak of flexiv::Scheduler (#37).
• Fix initial timer fluctuation of flexiv::Scheduler.
• Fix a bug where the input parameter enableGravityComp of Robot::streamJointTorque() cannot disable gravity compensation (#39).
• Fix a bug where the executing plan will be terminated when Robot::setGlobalVariables() is called.
• Fix a bug in heartbeat service where the connection will be closed immediately upon reconnection after disconnected for a while (#30).
• Fix a bug in timeliness monitor (#38).
• Fix incorrect description in the function doc of Robot::executePrimitive().

v1.1

COMPATIBILITY

• Internal pre-release

ADD

• Add [Blocking] and [Non-blocking] tag to doc of all flexiv::Robot functions.
• Add maxLinearVel and maxAngularVel input parameters to Robot::sendCartesianMotionForce().
• Add Robot::resetCartesianStiffness() to replace the default parameter of Robot::setCartesianStiffness().
• Add Robot::resetNullSpacePosture() to replace the default parameter of Robot::setNullSpacePosture().
• Add Robot::setMaxContactWrench() and Robot::resetMaxContactWrench() for Cartesian motion-force control modes to maintain the contact wrench under the specified limit.
• Add script argument to thirdparty/build_and_install_dependencies.sh to specify number of parallel compilation jobs.
• Add automatic print of info, warning, error, and critical error messages that are also displayed on Flexiv Elements.

CHANGE

• Replace dynamic-sized vectors with fixed-sized array for most functions and data structures. Update examples accordingly.
• Remove flexiv::Exception, replace with std::exception. Update examples accordingly.
• Change Robot::setMode() to block for the actual time used by the robot to decelerate and come to a complete stop.
• Replace Robot::startAutoRecovery() to with Robot::runAutoRecovery(), which blocks until the auto recovery process is finished. Update examples accordingly.
• Increase joint position auto recovery distance from 5 degrees to 10 degrees.
• Rewrite Robot::writeDigitalOutput() to allow writing to one or multiple digital output ports in a single function call.
• Change Robot::readDigitalInput() from non-real-time blocking to real-time non-blocking, change to read values from all digital input ports at once.
• Increase maximum allowed input string size from 5 Kb to 10 Kb for Robot::executePrimitive() and Robot::setGlobalVariables().
• Bump CMake minimum required version to 3.18.6.
• Remove explicit linking to librt.
• Specify C++17 as one target property for examples.
• Remove setting CMAKE_CXX_STANDARD globally.
• Decrease control mode switching time from 1 second to 100 ms plus any additional time needed to decelerate the robot.

FIX

• Remove incorrect function doc from Robot::executePrimitive().
• Fix auto recovery.
• Fix a potential race condition between DDS entities.
• Fix occasional false negative returned by Robot::isBusy().
• Fix occasional delivery delay of real-time motion commands.
• Fix an issue where plan and primitive will lose the gripper control after a function from flexiv::Gripper is called.

v1.0

COMPATIBILITY

• Internal pre-release

ADD

• Upgrade to DDS based communication framework.
• Add real-time communication QoS.
• Add RPC-over-DDS.
• Add IP-less server discovery.
• Add support to set velocity scale for Robot::executePrimitive() and Robot::executePlan().
• Add option to make Robot::isOperational() verbose and print detailed reasons why the robot is not operational.

CHANGE

• Optimize network bandwidth consumption.
• Improve check logic of timeliness monitor.
• Change Robot::writeDigitalOutput() and Robot::readDigitalInput() to handle all ports at once.
• Replace exception with warning in Robot::enable() if E-Stop is not released.
• Re-write delivery logic of non-real-time commands to avoid undesired behaviors.
• Improve CMake installation interface.
• Increase clang-format column limit from 80 to 100.
• Rename "operation mode" to "control mode".
• Change digital IO data communication from non-real-time asynchronous to real-time synchronous.

KNOWN ISSUE

• Robot::startAutoRecovery() is temporarily not working