Update Timeline

This page documents major updates, bug fixes, and structural changes made to the Jazzy version of the codebase.

20261111

New

  • rt_thread_policy and rt_thread_priority launch parameters: set the scheduling of the real-time threads when the driver starts with mode:=real. See Launch Parameters.

  • SetRtThreadPriority service (realtime/set_rt_thread_priority) and set_rt_thread_priority() in DSR_ROBOT2: set the same scheduling while real-time control is disconnected. See SetRtThreadPriority.

  • MuJoCo simulation (dsr_mujoco) for Jazzy. See Launch with MuJoCo.

Changed

  • DRFL updated to 1.33.5.

  • Hold-to-run actions (JogH2r, MovejH2r, MovelH2r): the client must publish the goal UUID on motion/h2r_keepalive at 10 Hz or faster while the robot moves. Update existing hold-to-run clients. See Hold-to-Run Keep-Alive.

  • AlterMotion: call EnableAlterMotion first. Without it, AlterMotion returns success: false.

Fixed

  • import DSR_ROBOT2 no longer fails with NameError: SetSingularityHandlingForce.

  • CDsrRobot in DSR_ROBOT2 now reaches a controller launched under a robot namespace (name:=).

  • The driver now closes a failed connection to the controller before it retries.