🚀 Distro 2022.05.2 Released

[Nicogene]

2022.05.2 Distro Announcement

Brief description of the announcement

Hello @robotology/everyone 👋

The iCub project is happy to announce our Software Distro 2022.05.2 📦

Like all the patch releases, it is shipped only in terms of tags/branches, no binaries are provided.

You can find the tags composing this distro in our Software Versioning Table.

Detailed context

This distro is shipped with several updates and fixes, including the ones listed hereafter:

🆕 Updates

🔘 Released YARP-3.7.2

@randaz81 released the YARP-3.7.2 🚀 🎉

🔘 We released the iCubShanghai01 robot 🤖

See relevant PR and test report in:

• [iCubShanghai01] - New configuration files robots-configuration#363
• https://github.com/robotology/robots-configuration/releases/tag/v1.25.0

Thanks @gsisinna @Uboldi80

🔘 Configurability of Kalman parameters in the FW

In Distro 2022.05.0, @sgiraz introduced the Kalman filter in the FW. There's now the possibility to change its parameters from the XML robot files.

See how in:

• Update embObjMotionControl and eomcParser to manage the new Kalman Filter paramenters icub-main#799

🔘 Updated iCub_SIM to the use of controlBoard_nws_yarp plus further clean up

iCub_SIM is no longer our official simulator. Though, it's still a nice-to-have component very easy to launch. Therefore, we decided to keep it up-to-date and fix it by replacing the deprecated service controlboardwrapper2 with the latest controlBoard_nws_yarp in:

• Replace controlboardwrapper2 w/ controlBoard_nws_yarp icub-main#808

Along the same way, we further cleaned up robots-configuration (thanks @davidetome) via:

• controlboardwrapper2 deprecation robots-configuration#364

🔘 Fixed FT-IMU frames conversion

We found out that the conversion of the IMU data from the sensor's reference frame into the FT root frame was flawed. We fixed it in:

• Fix FT IMU frames conversion icub-firmware#274
• strain2 v2.14 icub-firmware-build#55
• Fix FT-IMU frames conversion icub-tech-iit/documentation#212

🔘 Fixed handling of temperature in MultipleFT service

Check out the relevant information at:

• Fixed handling of temperature in MultipleFT service icub-main#811

🔘 Fixed r_wrist_yaw of iCubGazeboV2_* models

The pronosupination of some iCub Gazebo models was behaving wrongly.
The fix made by @Nicogene landed in:

• iCubGazeboV2_*: fix r_wrist_yaw direction icub-models-generator#220