Changelog

2.14.0

• 2026-06-14 Rename topics/published to topics/published_names in ROS services docs
• 2026-06-09 Add Forwarded ROS Services reference for ROS submap and topic APIs
• 2026-06-03 Add three calibration modes (single_shot, right_wall, front_wall) to Calibrate Duo Lidar Poses
• 2026-05-11 Add Submaps reference for /submap_list and SubmapQueryV2
• 2026-04-29 Add services Towing Hook Lock, Towing Hook Release, Clear Towing Hook Error
• 2026-04-29 Add services Load/Unload Cargo
• Add /services/query_pose/trailer_pose Query Pose
• Support creating maps directly from local files in Map API
• Emphasize download mapping result by binary file, with pbstream_url
• Add nav_sat_state in /slam/state
• Add /devpvt websocket channel CHC NavState (GNSS/INS)
• Add service /service/jack_self_check

2.12.0

• Add websocket channel V2X Health State
• Add service Probe V2X Beacons
• Add websocket channel Raw Io-board State
• Add path orientation in /path
• Add expanded_footprint in /robot_model
• Add websocket channel Updated Map Slice
• Add /services/query_pose Query Pose
• Add /device/sensors Sensors List, for quality control process.
• Add /xxxx_laser_2d/matched point cloud for individual lidar device.
• Add /depth_camera/xxx/image depth camera images

2.11.0

• Add service clear_fall_risk_warning.
• Add capacity, design_capacity, state_of_health and cycle_count in detailed_battery_state.
• Add websocket topic Detected Trailer
• Add websocket topic Push Handle State
• Add websocket topic Detailed Battery State
• Add Clear Jack Errors
• Add landmarks
• Add Confirm Estop
• Support Loading map from local file
• Support new service Calibrate Depth Camera Masks
• Add /services/start_collecting_landmarks, /services/stop_collecting_landmarks and /collected_data

2.10.0

• Add websocket topic /detected_pallets
• Add properties in mapping task object. It will be used to store landmarks.

2.9.1

• Add relative_pose in /collected_barcode

2.9.0

• Add System Settings
• Deprecate Robot Params
• Add docking_with_conveyer and is_waiting_for_dest in /planning_state
• Add wheels_released in /wheel_state.
• Add /bumper_state
• Add roller services. See Load/Unload Cargo with Roller
• Add roller websocket topic /roll_state

2.8.3

• Add not_installed package status. See List Packages

2.8.0

• Support Get Nav. Thumbnail Service
• Support websocket topic /robot_signal
• Support Get Rgb Image Service
• Support Websocket topic /nearby_auto_doors

2.7.7

• Support /control/bump_based_speed_limit/enable in robot params
• Support following a moving target. Add cap supportsFollowTarget.
• Support getting default params

2.7.1

• Support management of time sources
• Support use the robot as a NTP Server

2.7.0

• Support auto-doors and gateways.
• Support enabling a list of topics. Like {"enable_topic": ["/actions", "/alerts", "/tracked_pose"]}
• Support global positioning based on barcode
  • New capability flag: supportsBarcodeGp
  • Add two params in service /services/start_global_positioning.
  • Add websocket topic /collected_barcode. See collected barcodes
• Support loop recording of bags
  • New capability flag: supportsBags
• Add new param /wheel_control/acc_smoother/smooth_level
• Support correcting time error
• Support installing package from local file
• Support Boot Progress
• Support setting map with data directly.
• Support jacking device:
  • New capability flag: supportsJack
  • New move action type: align_with_rack, to_unload_point. See Jack Device
  • New move actin fail reason rack_moved.
  • Add services. See Jack Up/Down
  • Add websocket topic /jack_state
• Support dynamic footprint:
  • New capability flag: supportsDynamicFootprints.
  • Add new websocket topic /nearby_robot_footprints
  • Add new websocket topic /robot_model
  • The /nearby_robots topic has a new property footprint_digest.

2.6.1

• Add APIs /hostnames, to add/delete local DNS entries.
• Support cached topics.
• Add new caps: supportsCachedTopics.

2.6.0

• Support full-automatic incremental mapping.
• Add new caps: supportsIncrementalMapping

2.5.6

• Add websocket /local_path
• Add new cap: supportsLocalPath

2.5.2

• map_uid can be used to set current map.
• In Websocket /planning_state, add action_type, in_elevator, viewport_blocked. See Planning State.
• Support POST /services/clear_range_data_all_zero_error.
• Websocket /trajectory can show trajectory in both mapping and pure-localization mode.

2.5.0

• Add /services/calibrate_gyro_scale in Calibrate Gyroscope Scale
• Add App Store APIs
• Add USB Device APIs
  • List USB Devices
  • Save USB Devices
  • Reset USB Devices
• Support adjusting robot footprint in /robot-params. A restart is required for it to take effect.
• Add new caps: supportsGyroscopeScaleCalibration, supportsParamFiles, supportsAppStore, supportsUsbDevices
• Support service POST /services/clear_system_down_unexpectedly

2.4.0

• Add /control/bump_tolerance in /robot-params. See Robot Params
• Combine IMU bias calibration with pose calibration. Add capability flag combineImuBiasAndPoseCalibration.

2.3.0

• Add position_quality and lidar_matched in Websocket /slam/state. See Positioning State
• Add open in /device/available_wifis. See Available WIFIs
• Add /planning/auto_hold in /robot-params. See Robot Params
• Add /services/set_route_mode in Network Setup and Network Info

2.2.0

• Supports GET /device/available_wifis
• Supports GET /device/wifi_info
• Improve HTML page /wifi_setup

2.1.0

• Support automatically initial position correction. See adjust_position in /chassis/pose.
• Websocket supports /env_symmetry_map.
• Websocket supports /env_match_map.
• Support service POST /services/setup_wifi

2.0.0

• Support POST /services/monitor_recheck_errors
• Support POST /services/calibrate_depth_cameras

1.10.1

• Add Websocket command to get device info {"topic": "/get_device_info_brief"}.
• Add GET /device/info/brief.
• Add service POST /services/enable_auto_mapping.

1.10.0

• Add firmware info about bottom sensor pack and depth camera, in /device/info.
• Add service /services/start_global_positioning
• Add calibrate_pose in Imu Calibration
• Add service /wake_up_device in Wake Up Device ce)