Supervisor v1.3.0

1.3.0 (13th January 2025)

Highlight

• New system description
• Support for remote computer diagnostics (Compute, Clock, Delay)
• Diagnostics visualization in Control Panel

Fixed

• Various UI bugs
• Improved minimap performance with large laserscan point number
• Supervisor timeout is caught by the operation tab of the control panel

Added

• Support for root ROS namespace
• Controller tracking metric
• Systems health visualization
• Add resume from failure cooldown option

Changed

• rename actuators into control_commands in configuration
• Systems health metric -> System tree with systems, nodes and topic
• Improved carousel UI
• New 3Laws Theme

Removed

• Front Wheel steering robot model support

Supervisor v1.2.2

1.2.2 (19th September 2024)

Error handling hotfix

Fixed

• Error returned by the control panel backend in case of a bad License key is now intelligible

Added

N/A

Changed

N/A

Removed

N/A

Supervisor v1.2.1

1.2.1 (2nd September 2024)

Diagnostic and Visualization tools added!

Fixed

• Fix viz of lidar
• Fix control panel form validation on some fields
• Fix lidar config generated by control panel not being valid in some circumstances
• Fix dynamic consistency plot start/stop
• Fix control panel configuration of lidar not saving

Added

• Added more helpers in control panel configuration
• Added default values to process noise covariance

Changed

• Removed option for lidar and laserscan ranges to have no bounds

Removed

N/A

Supervisor v1.2.0

1.2.0 (19th August 2024)

Diagnostic and Visualization tools added!

Fixed

• Remove plot flickering that could appear due to variable update rate
• Fix ROS1 subscriber in control panel
• Fixed actuator signal used by RDM which was wrong when RAM was active.

Added

• Supervisor logs are now published over ROS
• RDM can now trigger RAM faults based on some metrics
• RAM faults can now be triggered externally via ROS topic
• Can now load mesh for all the formats supported by assimp library

Control Panel:

Configuration:

• License expiration and detail available
• Odometry consistency
• Dynamic consistency
• System heath (CPU load, RAM load and Read/Write rate)

Operation:

• Generic Logs journal with level selection
• Filter compute time
• Minimap with safety margin visualization
• RAM enable/disable button

Diagnostic:

• Odometry consistency plots and status timeline
• System health plots
• Dynamic consistency plots

Misc:

• Stop button on plots to stop the moving time frame

Robot Diagnostic Module

• Odometry consistency metric

Runtime Assurance Module

• Added option for simple downsampling of laserscan data

Changed

• Copilot status is replaced by RDM and RAM status in operation tab
• The behavior preference for the RAM has been simplified, now you don't have to choose between slowing down or turning, it will pick based on commanded velocities
• Dynamic consistency metric module is now based on integration instead of numerical differentiation. Makes for more intuitive metric values

Removed

N/A

Supervisor v1.1.0

1.1.0 (20th May 2024)

New supported ROS topic types and various bug fix

Fixed

• Node launching in incorrect namespace for ROS1
• Config file broken for ROS1
• Opening control panel from operation page not loading entire config
• Plots in operation tab of control panel not working with ROS1

Added

• Support for new subscription topic types:

  • Ackerman Steering [Stamped] see doc here
  • Accel [Stamped/withCovariance/withCovarianceStamped]
  • Pose [Stamped/withCovariance/withCovarianceStamped]
  • Twist [Stamped/withCovariance/withCovarianceStamped]
  • Transform [Stamped]

• Customizable filtered input (Runtime Assurance Module output) topic name, type and QoS

Changed

• Shape selection improved with shape visualization.
• Various bug fixes including loading errors while loading the configuration.
• Better RAM printing in failure mode
• Improved contextual documentation in control panel to start rosbridge

Removed

N/A

Supervisor v1.0.3

Fix omnidirectional dynamics not working when using input mask.

Added

N/A

Changed

N/A

Removed

N/A

Supervisor v1.0.2

Fix objects map perception modality that was not working in certain circumstances.

Added

• Objects now show up in RAM markers

Changed

N/A

Removed

N/A

Supervisor v1.0.1

Fix documentation coherence.

Added

N/A

Changed

• Renaming Supervisor parameters sections to fit with the documentation. "Copilot" renamed in Run-time Assurance Module
• Default port set to 8000 for every Control Panel entry point (server and CLI)

Removed

N/A

Supervisor v1.0.0

This is the first version of the supervisor product.

Added

• A ROS node that perform out of the box collision avoidance for any simple robot that has a lidar or an obstacle map.
• A Control Panel as a web server running on the robot to configure the supervisor and provide realtime feedback.
• A Command Line Client to manage the Control Panel server and check for updates.
• A documentation available here.

Changed

N/A

Removed

N/A