Merge pull request #557 from iRobotEducation/shamlian/release_H.2.5

shamlian · web-flow · commit e439da355c31 · 2024-02-27T12:48:27.000-05:00
Release H.2.5
diff --git a/docs/releases/h_2_5.md b/docs/releases/h_2_5.md
@@ -0,0 +1,62 @@
+# iRobot® Create® 3 Release H.2.5
+[[Click here to download release H.2.5]](https://edu.irobot.com/create3/firmware/H.2.5)
+
+!!! warning
+    When using Fast-DDS, startup times are about 30s longer than in our Galactic release.
+
+## This release is running ROS 2 Humble with the following interface library versions:
+
+- [irobot_create_msgs - 2.1.0](https://github.com/iRobotEducation/irobot_create_msgs/tree/2.1.0)
+- [cyclonedds - 0.10.0](https://github.com/eclipse-cyclonedds/cyclonedds/tree/0.10.3)
+- [Fast-DDS - 2.6.4](https://github.com/eProsima/Fast-DDS/tree/2.6.4)
+
+## Release Overview
+For ROS 2[^1] users, this is a bugfix release.
+For iRobot® Education Bluetooth[^2] users, there are no changes.
+See below for details.
+
+## Changelog (from H.2.4)
+### Core Robot
+* Overall
+    * The robot uses less RAM when idle in this release than in previous releases.
+* Webserver
+    * Add hidden [beta feature](../../webserver/wpa-supp-override/) to use a user-supplied wpa_supplicant.conf file. Note that this workflow conflicts with the normal provisioning workflow, so it has not been added to the beta menu, so that it is not accessed by accident.
+
+### ROS 2
+* Library Versions
+    * Update Cyclone DDS from 0.9.0 to 0.10.3
+* Parameters
+    * Add ROS 2 parameter `wheels_stop_threshold_sec` to the `/motion_control` node. This parameter controls the amount of time that the robot will keep executing the last provided velocity command (on the `/cmd_vel` topic) before considering it stale and stopping the wheels. Default value is 0.5 seconds.
+    * Add the following ROS 2 parameters to the `/robot_state` node to control (and disable) unnecessary ROS 2 publications to improve robot performance:
+        * `publish_hazard_msgs`: default `true`. If set to false, the robot will not publish the `/hazard_detection` topic. Disabling this can noticeably reduce the CPU and RAM usage of the robot.
+        * `hazards_pub_fixed_period_ms`: default `-1`. This controls whether the robot should publish hazard information even if the hazards are not changing. Set it to `-1` to disable fixed period hazard publications and have hazards be published only when they change. This parameter will be ignored if `publish_hazard_msgs` is set to `false`.
+        * `raw_kinematics_min_pub_period_ms`: default `25`. This controls the minimum period at which the robot should publish raw kinematics information. If set to `-1`, it will disable raw kinematics publications. This can noticeably reduce the CPU and RAM usage of the robot. A value of `1` indicates that raw data should be published as soon as they are available. Values higher than `1` will throttle publications and will give some CPU improvement, but won't help RAM usage.
+        The following topics are affected by this parameter: `/imu`, `/mouse`, `/wheel_status`, `/wheel_ticks`,  `/wheel_vels`.
+        If you are not interested in subscribing to these topics, it's recommended to set this parameter's value to `-1`.
+        * `publish_odom_tfs`: default `true`. If set to false, the robot will not publish odometry information in the `/tf` topic. This can reduce the CPU and RAM usage of the robot if not needed. Note: this parameter is independent from `raw_kinematics_min_pub_period_ms`
+    
+        As a summary, the best performance can be obtained via
+        ```
+        robot_state:
+          ros__parameters:
+            publish_hazard_msgs: false
+            publish_odom_tfs: false
+            raw_kinematics_min_pub_period_ms: -1
+        ```
+
+        Note that `publish_odom_tfs: true` is required to interact with the navigation stack.
+    
+        This new version changes the default timing of some ROS 2 topics to improve the CPU performance.
+        To restore the previous behavior users can use the following configuration
+
+        ```
+        robot_state:
+          ros__parameters:
+            hazards_pub_fixed_period_ms: 16
+            raw_kinematics_min_pub_period_ms: 1
+        ```
+
+
+[^1]: ROS 2 is governed by Open Robotics.
+[^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.
+[^3]: All other trademarks mentioned are the property of their respective owners.
diff --git a/docs/releases/overview.md b/docs/releases/overview.md
@@ -29,8 +29,8 @@ Downloads of a particular version can be found on each individual release page.
 ## Releases
 
 ### Humble
-
-* [H.2.4](../h_2_4) (humble-latest)
+* [H.2.5](../h_2_5) (humble-latest, latest)
+* [H.2.4](../h_2_4)
 * [H.2.3](../h_2_3)
 * [H.2.2](../h_2_2)
 * [H.2.1](../h_2_1)
@@ -40,7 +40,7 @@ Downloads of a particular version can be found on each individual release page.
 * [H.0.0](../h_0_0)
 
 ### Galactic
-* [G.5.4](../g_5_4) (galactic-latest, latest)
+* [G.5.4](../g_5_4) (galactic-latest)
 * [G.5.3](../g_5_3)
 * [G.5.2](../g_5_2)
 * [G.5.1](../g_5_1)
diff --git a/docs/webserver/data/edit-wpa-supp.png b/docs/webserver/data/edit-wpa-supp.png
diff --git a/docs/webserver/wpa-supp-override.md b/docs/webserver/wpa-supp-override.md
@@ -0,0 +1,42 @@
+# iRobot® Create® 3 Webserver - Override wpa_supplicant.conf
+The wpa_supplicant override page of the Create® 3 webserver allows the user to replace the normal provisioning workflow by supplying a wpa_supplicant.conf file to the robot.
+
+!!!warning
+    Please note that this is a beta feature, and as such is not supported by the customer service team.
+    Please exercise caution, as improper use of beta features may result in an inoperable robot.
+
+![Picture of edit wpa_supplicant.conf page](data/edit-wpa-supp.png)
+
+To access this page, it is necessary to manually navigate to the `/wpa-supp-override` URL on the robot.
+This page is not accessible from the "beta menu" because it conflicts with the normal provisioning workflow of the robot in a way that could be confusing if activated by accident.
+
+This page allows the user to directly change `wpa_supplicant.conf` on the robot.
+This file is read in ONLY at boot time.
+Any other provisioning done through the [normal workflow](../webserver/connect.md) will be ignored.
+After pressing "save," the robot must be rebooted for the supplied wpa_supplicant.conf file to be used.
+To revert to the normal provisioning workflow, either delete the text of the file from this page, save, and reboot; or factory reset the robot.
+
+Here is an example file:
+```
+network={
+	ssid="MyAwesomeNetwork"
+	psk="$3kr1tP4s$w0rD!"
+	priority=2
+	scan_ssid=1
+}
+network={
+	ssid=5461686c65656e53686168616e4172656e
+	psk=e6fc52f4df9d9dfb32b149e3b6afd324d7ecc7db3852b47bb2a953d9aaca8b02
+	priority=1
+	scan_ssid=1
+}
+
+eapol_version=1
+fast_reauth=1
+ap_scan=1
+filter_ssids=1
+ctrl_interface=/var/run/wpa_supplicant
+ctrl_interface_group=apps
+```
+
+[^1]: All trademarks mentioned are the property of their respective owners.
diff --git a/mkdocs.yml b/mkdocs.yml
@@ -75,6 +75,7 @@ nav:
         - Set Wired Subnet: webserver/set-wired-subnet.md
         - Override RMW Profile: webserver/rmw-profile-override.md
         - Forget Wi-Fi Network: webserver/forget-wifi.md
+        - Override wpa_supplicant: webserver/wpa-supp-override.md
       - About: webserver/about.md
     - Setup:
       - Connect to Wi-Fi: setup/provision.md
@@ -131,7 +132,7 @@ nav:
           - G.5.2: releases/g_5_2.md
           - G.5.3: releases/g_5_3.md
       - Humble:
-        - H.2.4: releases/h_2_4.md
+        - H.2.5: releases/h_2_5.md
         - Older:
           - H.0.0: releases/h_0_0.md
           - H.1.0: releases/h_1_0.md
@@ -140,3 +141,4 @@ nav:
           - H.2.1: releases/h_2_1.md
           - H.2.2: releases/h_2_2.md
           - H.2.3: releases/h_2_3.md
+          - H.2.4: releases/h_2_4.md
