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Release G.5.1 / H.2.1 (#420)
* Add G.5.1, H.2.1, and associated features * Update admonitions for beta features * Move "beta" admonition on pages with images * Add example middleware profiles from robot * Add example topic values to hazards
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Diff for: ‎docs/api/hazards.md

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@@ -21,23 +21,191 @@ In particular the timestamp will denote when the robot detected the hazard and t
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!!! important
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The `hazard_detection` topic will also contain a `BACKUP_LIMIT` hazard if the robot safety features are preventing it from safely moving further backwards. Look at the [safety documentation](safety.md) for details and how to disable it.
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??? example
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No hazards:
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```
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header:
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stamp:
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sec: 1688673217
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nanosec: 973425138
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frame_id: base_link
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detections: []
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```
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Many hazards:
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```
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header:
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stamp:
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sec: 1688673239
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nanosec: 782492541
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frame_id: base_link
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detections:
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- header:
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stamp:
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sec: 1688673239
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nanosec: 782576914
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frame_id: cliff_side_left
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type: 2
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- header:
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stamp:
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sec: 1688673239
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nanosec: 782576914
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frame_id: cliff_front_left
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type: 2
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- header:
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stamp:
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sec: 1688673239
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nanosec: 782576914
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frame_id: cliff_front_right
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type: 2
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- header:
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stamp:
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sec: 1688673239
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nanosec: 782576914
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frame_id: cliff_side_right
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type: 2
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- header:
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stamp:
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sec: 1688673239
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nanosec: 781947051
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frame_id: left_wheel
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type: 3
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- header:
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stamp:
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sec: 1688673239
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nanosec: 781947051
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frame_id: right_wheel
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type: 3
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- header:
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stamp:
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sec: 1688673239
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nanosec: 782576914
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frame_id: base_link
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type: 0
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```
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### The `kidnap_status` topic
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By "kidnap" we denote the action of manually lifting the robot and, eventually, placing it back in a location which may be different from the original one.
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The Create® 3 robot combines together different sensors data in order to determine when it's being kidnapped.
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A boolean status will be periodically published on the `kidnap_status` topic.
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??? example
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```
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header:
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stamp:
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sec: 1688672489
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nanosec: 526097022
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frame_id: base_link
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is_kidnapped: false
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```
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### The `ir_intensity` topic
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Besides the aforementioned sensors, the Create® 3 robot is also equipped with [7 sets of IR emitters and receivers](/hw/mechanical/#ir-proximity-sensors) and it can use them to detect objects at close range.
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[7 sets of IR emitters and receivers](/hw/mechanical/#ir-proximity-sensors) are available in the front bumper to detect objects at close range.
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The Create® 3 robot will periodically publish on the `ir_intensity` topic the raw intensity readings obtained from these sensors.
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The message will be a vector where each element corresponds to a different sensor.
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The higher the intensity value is, the closer an obstacle is to the robot.
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The `header` field of each indivdual detection will provide all the information required to localize it.
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In particular the timestamp will denote when the robot detected the hazard and the frame id will denote the location of the sensor that performed the detection.
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??? example
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```
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header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: base_link
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readings:
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_side_left
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value: 0
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_left
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value: 0
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_front_left
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value: 0
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_front_center_left
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value: 0
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_front_center_right
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value: 5
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_front_right
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value: 0
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- header:
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stamp:
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sec: 1688673736
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nanosec: 121692158
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frame_id: ir_intensity_right
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value: 3
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```
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### The `cliff_intensity` topic
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[4 sets of IR emitters and receivers](/hw/mechanical/#bottom-view) are available in on the bottom of the robot just behind its front bumper to detect presence or absence of the floor.
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The Create® 3 robot will periodically publish on the `cliff_intensity` topic the raw intensity readings obtained from these sensors.
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The message will be a vector where each element corresponds to a different sensor.
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The higher the intensity value is, the more intensely the floor is perceived.
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The `header` field of each indivdual detection will provide all the information required to localize it.
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In particular the timestamp will denote the time of the reading and the frame id will denote the location of the sensor that performed the detection.
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??? example
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```
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header:
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stamp:
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sec: 1688672489
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nanosec: 986327471
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frame_id: base_link
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readings:
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- header:
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stamp:
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sec: 1688672489
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nanosec: 986327471
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frame_id: cliff_side_left
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value: 2207
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- header:
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stamp:
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sec: 1688672489
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nanosec: 986327471
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frame_id: cliff_front_left
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value: 2235
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- header:
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stamp:
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sec: 1688672489
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nanosec: 986327471
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frame_id: cliff_front_right
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value: 2206
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- header:
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stamp:
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sec: 1688672489
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nanosec: 986327471
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frame_id: cliff_side_right
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value: 2187
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```
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[^1]: ROS 2 is governed by Open Robotics
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[^2]: All trademarks mentioned are the property of their respective owners.

Diff for: ‎docs/api/ros2.md

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```bash
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$ ros2 topic list -t
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/battery_state [sensor_msgs/msg/BatteryState]
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/cliff_intensity [irobot_create_msgs/msg/IrIntensityVector]
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/cmd_audio [irobot_create_msgs/msg/AudioNoteVector]
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/cmd_lightring [irobot_create_msgs/msg/LightringLeds]
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/cmd_vel [geometry_msgs/msg/Twist]

Diff for: ‎docs/releases/g_5_1.md

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# iRobot® Create® 3 Release G.5.1
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[[Click here to download release G.5.1]](https://edu.irobot.com/create3/firmware/G.5.1)
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## This release is running ROS 2 Galactic with the following interface library versions:
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- [irobot_create_msgs - 1.2.4](https://github.com/iRobotEducation/irobot_create_msgs/tree/1.2.4)
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- [cyclonedds - 0.8.1](https://github.com/eclipse-cyclonedds/cyclonedds/tree/0.8.1)
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- [Fast-DDS - 2.3.3](https://github.com/eProsima/Fast-DDS/tree/2.3.3)
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## Release Overview
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For iRobot® Education Bluetooth[^1] users, this is a bugfix release.
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For ROS 2[^2] users, this is primarily a feature release.
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See below for details.
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## Changelog (from G.4.5)
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### ROS 2
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* Publications
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* Add `/cliff_intensity` topic [(#320)](https://github.com/iRobotEducation/create3_docs/issues/320)
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* Add tf frame for the IMU (called `imu`), to which the `/imu` topic is now connected
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* Middleware
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* Allow the use of `;` characters in Fast-DDS Discovery Server configuration [(#400)](https://github.com/iRobotEducation/create3_docs/issues/400)
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* Beta: Allow user to [provide an XML configuration file](../../webserver/rmw-profile-override/) for their preferred middleware [(#407)](https://github.com/iRobotEducation/create3_docs/issues/407)
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### Core Robot
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* Webserver / OS
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* Beta: Allow user full control to [edit ntp.conf](../../webserver/edit-ntp-conf/) [(#333)](https://github.com/iRobotEducation/create3_docs/issues/333)
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* Remove erroneous log messages about the robot's lost Wi-Fi connection when it had never been connected in the first place
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### iRobot® Education Bluetooth protocol mode
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* Fix device number for stall event to match protocol document [(#410)](https://github.com/iRobotEducation/create3_docs/issues/410)
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[^1]: The Bluetooth® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by iRobot is under license.
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[^2]: ROS 2 is governed by Open Robotics.
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[^3]: All other trademarks mentioned are the property of their respective owners.

Diff for: ‎docs/releases/h_2_1.md

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# iRobot® Create® 3 Release H.2.1
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[[Click here to download release H.2.1]](https://edu.irobot.com/create3/firmware/H.2.1)
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!!! warning
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When using Fast-DDS, startup times are about 30s longer than in our Galactic release. We are working on a fix.
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## This release is running ROS 2 Humble with the following interface library versions:
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- [irobot_create_msgs - 2.1.0](https://github.com/iRobotEducation/irobot_create_msgs/tree/2.1.0)
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- [cyclonedds - 0.9.0](https://github.com/eclipse-cyclonedds/cyclonedds/tree/0.9.0)
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- [Fast-DDS - 2.6.4](https://github.com/eProsima/Fast-DDS/tree/2.6.4)
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## Release Overview
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For iRobot® Education Bluetooth[^1] users, this is a bugfix release.
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For ROS 2[^2] users, this is primarily a feature release.
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See below for details.
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## Changelog (from H.1.2)
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### ROS 2
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* Publications
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* Add `/cliff_intensity` topic [(#320)](https://github.com/iRobotEducation/create3_docs/issues/320)
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* Add tf frame for the IMU (called `imu`), to which the `/imu` topic is now connected
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* Middleware
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* Allow the use of `;` characters in Fast-DDS Discovery Server configuration [(#400)](https://github.com/iRobotEducation/create3_docs/issues/400)
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* Beta: Allow user to [provide an XML configuration file](../../webserver/rmw-profile-override/) for their preferred middleware [(#407)](https://github.com/iRobotEducation/create3_docs/issues/407)
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### Core Robot
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* Webserver / OS
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* Beta: Allow user full control to [edit ntp.conf](../../webserver/edit-ntp-conf/) [(#333)](https://github.com/iRobotEducation/create3_docs/issues/333)
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* Remove erroneous log messages about the robot's lost Wi-Fi connection when it had never been connected in the first place
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### iRobot® Education Bluetooth protocol mode
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* Fix device number for stall event to match protocol document [(#410)](https://github.com/iRobotEducation/create3_docs/issues/410)
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[^1]: ROS 2 is governed by Open Robotics.
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[^2]: The Bluetooth® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by iRobot is under license.
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[^3]: All other trademarks mentioned are the property of their respective owners.

Diff for: ‎docs/releases/overview.md

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### Humble
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* [H.1.2](../h_1_2) (humble-latest)
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* [H.2.1](../h_2_1) (humble-latest)
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* [H.1.2](../h_1_2)
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* [H.1.1](../h_1_1)
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* [H.1.0](../h_1_0)
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* [H.0.0](../h_0_0)
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### Galactic
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* [G.4.5](../g_4_5) (galactic-latest, latest)
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* [G.5.1](../g_5_1) (galactic-latest, latest)
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* [G.4.5](../g_4_5)
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* [G.4.4](../g_4_4)
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* [G.4.3](../g_4_3)
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* [G.4.1](../g_4_1)

Diff for: ‎docs/webserver/data/edit-ntp-conf.png

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Diff for: ‎docs/webserver/data/rmw-profile-override.png

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Diff for: ‎docs/webserver/edit-ntp-conf.md

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# iRobot® Create® 3 Webserver - Edit ntp.conf
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The Edit ntp.conf page of the Create® 3 webserver allows the user to modify the robot's NTP daemon configuration file.
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!!!warning
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Please note that this is a beta feature, and as such is not supported by the customer service team.
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Please exercise caution, as improper use of beta features may result in an inoperable robot.
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![Picture of edit ntp.conf page](data/edit-ntp-conf.png)
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This page allows the user to directly edit `ntp.conf` on the robot. After pressing "save," the NTP daemon must be [restarted](../webserver/restart-ntpd.md).
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[^1]: All trademarks mentioned are the property of their respective owners.

Diff for: ‎docs/webserver/overview.md

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- [Application](../webserver/application.md)
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- Beta Features
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- [Serial Forwarder](../webserver/serial-config.md)
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- [Set Date and Time](../webserver/set-datetime.md)
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- [Edit ntp.conf](../webserver/edit-ntp-conf.md)
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- [Restart ntpd](../webserver/restart-ntpd.md)
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- [Set Wired Subnet](../webserver/set-wired-subnet.md)
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- [Override RMW Profile](../webserver/rmw-profile-override.md)
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- [About](../webserver/about.md)
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[^1]: ROS 2 is governed by Open Robotics

Diff for: ‎docs/webserver/restart-ntpd.md

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# iRobot® Create® 3 Webserver - Restart ntpd
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The "Restart ntpd" beta menu option of the Create® 3 webserver instructs the Create® 3 robot to resynchronize its clock.
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Please note that this is a beta feature, and as such is not supported by the customer service team.
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Please exercise caution, as improper use of beta features may result in an inoperable robot.
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!!!warning
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Please note that this is a beta feature, and as such is not supported by the customer service team.
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Please exercise caution, as improper use of beta features may result in an inoperable robot.
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Selecting the "Restart ntpd" option will spawn a pop-up requesting confirmation.
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Restarting the ntp daemon will trigger a time resynchronization with the first time server found.

Diff for: ‎docs/webserver/rmw-profile-override.md

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# iRobot® Create® 3 Webserver - Override RMW Profile
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The Override RMW Profile page of the Create® 3 webserver allows the user to override the robot's inbuilt RMW profiles for its middleware.
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!!!warning
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Please note that this is a beta feature, and as such is not supported by the customer service team.
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Please exercise caution, as improper use of beta features may result in an inoperable robot.
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![Picture of Override RMW Profile page](data/rmw-profile-override.png)<br><br>
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## Usage
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This page allows the user to replace the robot's middleware XML profile file with one of their choosing.
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Leave this box blank in order to use the robot's default profile file.
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!!!important
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After pressing "save," the application must be [restarted](../application/#restart-application).
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More details about the XML configuration file can be found on respective vendor sites:
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* [Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/docs/manual/options.md)
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* [Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/fastdds/xml_configuration/xml_configuration.html)
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## Example for Cyclone DDS
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Replace `INTERFACE` with interface(s) of choice (for example, `usb0,wlan0` to communicate on both the USB and Wi-Fi interfaces)
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```xml
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<CycloneDDS>
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<Domain>
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<General>
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<NetworkInterfaceAddress>INTERFACE</NetworkInterfaceAddress>
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</General>
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</Domain>
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</CycloneDDS>
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```
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## Example for Fast DDS
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```xml
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<?xml version="1.0" encoding="UTF-8" ?>
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>udp_transport</transport_id>
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<type>UDPv4</type>
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<maxMessageSize>65000</maxMessageSize>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="broadcast_discovery" is_default_profile="true">
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<rtps>
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<userTransports>
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<transport_id>udp_transport</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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</rtps>
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</participant>
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</profiles>
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```
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[^1]: All trademarks mentioned are the property of their respective owners.

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