Release Notes
AI Worker
https://github.com/ROBOTIS-GIT/ai_worker
1.1.6 (2025-07-07)
- Updated ros2_control xacro file for ffw_bg2_rev4_follower
- Fix header file name for tf2
- Contributors: Woojin Wie
1.1.5 (2025-06-30)
- Updated ros2_control xacro file for ffw_bg2_rev2_follower
- Contributors: Woojin Wie
1.1.4 (2025-06-27)
- Added ROS_DOMAIN_ID to the Dockerfile
- Contributors: Woojin Wie
1.1.3 (2025-06-26)
- Modified jog scale for ffw_lg2_leader
- Added dependencies to the package.xml file for image_transport_plugins
- Contributors: Woojin Wie
1.1.2 (2025-06-26)
- Added dependencies to the package.xml file
- Contributors: Woojin Wie
1.1.1 (2025-06-26)
- Reordered pip install order in Dockerfile to fix the numpy version issue
- Added Current Limit parameter to the ros2_control xacro file for ffw_sg2_rev1
- Contributors: Woojin Wie
1.1.0 (2025-06-16)
- Add installation of some ROS 2 packages for physical AI tools in Dockerfile
- Add an alias command in Dockerfile for running the physical AI server
- Support ffw_sg2_rev1 Model
- Add swerve drive controller package for ffw_sg2_rev1
- Modify joystick controller to support swerve mode
- Contributors: Kiwoong Park, Woojin Wie, Geonhee Lee, Wonho Yun
1.0.9 (2025-06-09)
- Updated urdf files for ffw_bg2_rev4
- Modified Gazebo launch file
- Contributors: Woojin Wie, Wonho Yun
1.0.8 (2025-06-02)
- Updated Model files for ffw_bg2_rev4
- Contributors: Woojin Wie
1.0.7 (2025-05-30)
- Updated Model files for ffw_bg2_rev4
- Contributors: Woojin Wie
1.0.6 (2025-05-28)
- Modified Docker volume mapping
- Created RealSense and ZED launch files
- Adjusted joint names
- Improved file structure
- Removed deprecated files
- Contributors: Woojin Wie
1.0.5 (2025-05-09)
- Fixed Dockerfile
- Updated Camera URDF
- Contributors: Woojin Wie
1.0.4 (2025-05-08)
- Fixed Dockerfile
- Updated ros2 control xacro file to support async
- Contributors: Woojin Wie
1.0.3 (2025-04-28)
- Added support for Joystick controller
- Added ffw_spring_actuator_controller
- Contributors: Woojin Wie
1.0.2 (2025-04-16)
- Added support for ROBOTIS RH Gripper
- Added differentiation between slow and fast versions
- Updated codebase to comply with flake8 linting standards
- Contributors: Wonho Yun
1.0.1 (2025-04-07)
- Modified the profile velocity parameters for enhanced arm and hand teleoperation performance
- Modified the README file to reflect usage instructions for this package
- Removed unused files and redundant comments to streamline the codebase
- Contributors: Wonho Yun, Pyo
1.0.0 (2025-04-06)
- Added the initial version of the FFW ROS package
- Added arm and hand teleoperation support for FFW
- Added integrated controller compatibility for Inspire Robot Hand
- Contributors: Sungho Woo, Woojin Wie, Wonho Yun, Pyo
0.1.0 (2025-03-27)
- Added bringup scripts for system initialization
- Added robot description files for visualization and planning
- Added base controller functionalities
- Added MoveIt for motion planning support
- Contributors: Sungho Woo, Woojin Wie
Physical AI Tools
0.5.9 (2025-07-07)
- Use global ROS connection instead of multiple instances
- Add proper cleanup for image streams to prevent accumulation
- Remove unnecessary scrollbars in Chrome browser
- Contributors: Kiwoong Park
0.5.8 (2025-07-07)
- Applied Redux Toolkit for better state management
- Added heartbeat status to the UI
- Added heartbeat topic publishing to monitor alive status of Physical AI Server
- Contributors: Kiwoong Park, Dongyun Kim
0.5.7 (2025-06-26)
- Added Image Transport Plugin and fixed missing Gstreamer components
- Contributors: Dongyun Kim
0.5.6 (2025-06-26)
- Reordered pip install order in Dockerfile to fix the numpy version issue
- Contributors: Woojin Wie
0.5.5 (2025-06-26)
- Fixed control panel button states not reflecting correct taskType when switching between Record and Inference pages
- Contributors: Kiwoong Park
0.5.4 (2025-06-25)
- Added support for inference mode in the physical AI Server, including a new InferencePage and related UI components.
- Changed the robot naming format.
- Added Robot Config to support FFW-SG2 robot.
- Added Msg Topic and data acquisition functionality to support Mobile Robot.
- Fixed minor errors in the data acquisition process to improve software stability.
- Added a new inference page for running and monitoring inference tasks.
- Added inference-related msgs and srv types.
- Contributors: Dongyun Kim, Kiwoong Park
0.5.3 (2025-06-16)
- Refactored Physical AI Server for improved data collection capabilities
- Implemented data acquisition functionality using ROS2 topics
- Modified configuration system to allow flexible robot type selection
- Updated data collection method to utilize image buffers for efficiency
- Overall UI improvements for physical_ai_manager
- Added status information display from physical_ai_server
- Added functionality to receive task information from users and send commands to physical_ai_server
- Added bringup launch file that runs physical_ai_server with rosbridge_server and webvideo_server
- Contributors: Dongyun Kim, Kiwoong Park
0.5.2 (2025-05-29)
- Adjusted the waiting timeout for joint states.
- Contributors: Dongyun Kim
0.5.1 (2025-05-29)
- Added quality and transport parameters to image streaming URL
- Added a Docker setup for physical AI server
- Contributors: Kiwoong Park
0.5.0 (2025-05-20)
- Added a web UI for physical AI data collection
- Removed unnecessary dependencies and cleaned up the codebase
- Updated the LeRobot submodule to the latest version
- Refactored to a scalable structure that supports N cameras and various joint configurations
- Contributors: Dongyun Kim, Kiwoong Park, Woojin Wie, Seongwoo Kim
0.4.0 (2025-05-15)
- Added a pipeline for data collection and inference based on ROS2
- Refactored to a scalable structure that supports N cameras and various joint configurations
- Contributors: Dongyun Kim
0.3.1 (2025-05-08)
- Updated the LeRobot submodule to the latest version
- Contributors: Woojin Wie
0.3.0 (2025-04-25)
- Unified multiple launch files into a single configurable launch file for better usability
- Contributors: Seongwoo Kim
0.2.0 (2025-04-08)
- Added a time stamper node for data synchronization purposes
- Removed unused joints and motors bus config
- Contributors: Seongwoo Kim, Hyungyu Kim
0.1.0 (2025-04-07)
- Added a full workflow for recording and visualizing datasets using the LeRobot interface
- Added bringup scripts for system initialization
- Contributors: Seongwoo Kim, Pyo