Changelog

Track updates, improvements, and bug fixes to xTerra robot software and documentation.

Version 2.1.0 - 2025-01-15

New Features

  • Added support for ROS2 Jazzy Jalisco
  • Implemented advanced terrain adaptation algorithms
  • New web-based control interface
  • Multi-robot coordination framework
  • Enhanced computer vision pipeline with YOLOv8

Improvements

  • 40% improvement in battery efficiency
  • Reduced latency in camera streaming (30ms → 15ms)
  • Better stability on uneven terrain
  • Improved documentation with more examples

Bug Fixes

  • Fixed IMU drift issue during prolonged operation
  • Resolved WiFi reconnection problem
  • Fixed joint calibration offset error

Version 2.0.0 - 2024-10-01

Major Changes

  • Migration from ROS2 Humble to Iron
  • Complete rewrite of locomotion controller
  • New Python SDK with simplified API
  • Integration with Nav2 for autonomous navigation

Breaking Changes

  • Changed topic namespace from /robot to /xterra
  • Updated service interfaces (see migration guide)
  • Minimum Ubuntu version now 22.04

Deprecations

  • Old velocity command format (use Twist messages)
  • Legacy calibration tool (use new GUI tool)

Version 1.5.2 - 2024-07-20

Bug Fixes

  • Fixed memory leak in camera node
  • Resolved emergency stop recovery issue
  • Corrected odometry drift on slopes

Performance

  • Optimized point cloud processing (2x faster)
  • Reduced CPU usage by 15%

Version 1.5.0 - 2024-05-15

New Features

  • LiDAR integration for Svan M2
  • Improved stair climbing algorithm
  • Remote firmware update capability
  • Battery health monitoring

Improvements

  • Enhanced error messages and diagnostics
  • Better handling of network interruptions
  • Smoother velocity transitions

Version 1.4.0 - 2024-03-10

New Features

  • Added Gazebo simulation support
  • Implemented MoveIt integration for Cobot C1
  • New teleoperation modes (keyboard, gamepad)
  • Support for external GPU acceleration

Documentation

  • New tutorials for beginners
  • API reference documentation
  • Video tutorials added

Version 1.3.0 - 2024-01-20

New Features

  • Dynamic gait switching
  • Obstacle avoidance improvements
  • Power-saving mode
  • Multi-camera synchronization

Bug Fixes

  • Fixed boot failure on low battery
  • Resolved joint position offset issues
  • Corrected camera timestamp synchronization

Version 1.2.0 - 2023-11-05

Initial Features

  • Basic locomotion (walk, trot, stand, sit)
  • ROS2 Humble support
  • RGB-D camera integration
  • IMU-based orientation estimation
  • WiFi connectivity
  • Battery management

Documentation Updates

2025-01-10

  • Added comprehensive API reference
  • New troubleshooting section
  • Updated installation guide for Ubuntu 24.04
  • Added FAQ section

2024-12-01

  • Added Cobot C1 documentation
  • Improved getting started guide
  • New code examples for Python SDK

2024-10-15

  • Complete documentation redesign
  • Added interactive tutorials
  • Improved search functionality

Upcoming Features

Planned for v2.2.0 (Q2 2025):

  • AI-powered autonomous exploration
  • Enhanced human-robot interaction
  • Support for ROS2 Kilted
  • Improved gait optimization for rough terrain
  • Mobile app for iOS and Android
  • Fleet management dashboard

Version Support Policy

We maintain the following support timeline:

  • Current Version: Full support with active development
  • Previous Version: Bug fixes and security updates (6 months)
  • Older Versions: Security patches only (12 months total)

Reporting Issues

Found a bug or have a feature request?

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