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Recent Releases of airo-mono

airo-mono - v2025.8.0

This release upgrades to NumPy 2.0 and ZED SDK 5.0. It may introduce breaking changes in downstream code, requiring you to also upgrade to NumPy 2.0.

2025.8.0

Breaking changes

airo-tulip

  • Update airo-tulip to version 0.4.0, which returns odometry to the standard drive encoder based method.

NumPy 2

airo-mono is finally upgrading to NumPy 2.0! This is a major change that may break compatibility with some packages that depend on NumPy. Please read the notes below carefully. In particular, the ZED SDK has been updated to version 5.0, which requires CUDA 12.8 to be installed. You will need to update your CUDA installation and upgrade your ZED SDK to version 5.0 to use the ZED camera with airo-mono.

This has implications for downstream packages (or your own code). If you depend on certain software that requires an older version of NumPy, you may need to either: - update that software to a version that is compatible with NumPy 2.0, or - stick with airo-mono version 2025.7.0 or earlier until the software you depend on is updated.

The following changes have been made to airo-mono to support NumPy 2.0: - Update NumPy to version > 2.0, which may break compatibility with some packages that depend on NumPy. - This forces downstream code to be compatible with the latest NumPy version. - With this change, we also update the OpenCV version to 4.10, which is compatible with NumPy 2.0. - With this change, we also update the Rerun version to 0.23, which is compatible with NumPy 2.0. - With this change, we also update the ZED SDK to version 5.0, which is compatible with NumPy 2.0. - Update ZED SDK to version 5.0, which changes the API for the ZED camera provided by airo-camera-toolkit in the Zed class. - This requires CUDA 12.8 to be installed. - Depth modes have been replaced: you can now choose between Zed.NEURAL_LIGHT_DEPTH_MODE, Zed.NEURAL_DEPTH_MODE, and Zed.NEURAL_PLUS_DEPTH_MODE. - This improves depth quality, especially when using the neural plus model. - This also improves depth performance, especially when using the neural light model. - For more information, see the ZED SDK 5.0 blog post.

Added

  • Add documentation on how to include custom sensors for odometry.

Changed

Fixed

  • The KELORobile move_platform_to_pose method now calls the correct get_odometry method, allowing custom odometry implementations.

- Python
Published by m-decoster 6 months ago

airo-mono - v2025.7.0

This release updates airo-camera-toolkit to use airo-ipc for multiprocessing and includes a fix to the closed loop movement of the KELORobile platform with specific angles (multiples of 360 degrees).

2025.7.0

Breaking changes

Added

Changed

  • Update airo-tulip to version 0.3.0 for better orientation estimation.
  • Use airo-ipc for multiprocessing in airo-camera-toolkit.

Fixed

  • Fixed a bug when the KELO Robile platform was moving around multiples of 360 degrees, where the target angle would switch.
  • Fixed a bug where the KELO Robile platform would refuse to move to a pose if delta angle was close to 0.

Removed

- Python
Published by m-decoster 8 months ago

airo-mono - v2025.4.0

2025.4.0

This release marks the availability of airo-mono packages on PyPI:

  • https://pypi.org/project/airo-teleop/
  • https://pypi.org/project/airo-spatial-algebra/
  • https://pypi.org/project/airo-robots/
  • https://pypi.org/project/airo-dataset-tools/
  • https://pypi.org/project/airo-camera-toolkit/
  • https://pypi.org/project/airo-typing/

This makes it significantly easier to use airo-mono, with a simple pip install.

Breaking changes

  • internal dependencies are now listed as regular dependencies in the setup.py file to overcome issues and make the installation process less complicated. This implies you need to install packages according to their dependencies and can no longer use the external tag as in pip install airo-typing[external]. see issue #91 and PR for more details.
  • PointCloud dataclass replaces the ColoredPointCloudType to support point cloud attritubes

Added

  • add method as_single_polygon to combine disconnected parts of a binary mask into a single polygon to the Mask class, useful for data formats that only allow for a single polygon such as YOLO.
  • PointCloud dataclass as the main data structure for point clouds in airo-mono
  • Notebooks to get started with point clouds, checking performance and logging to rerun
  • Functions to crop point clouds, filter points with a mask (e.g. low-confidence points), and transform point clouds
  • Functions to convert from our numpy-based dataclass to and from open3d point clouds
  • BoundingBox3DType
  • Zed.ULTRA_DEPTH_MODE to enable the ultra depth setting for the Zed cameras
  • OpenCVVideoCapture implementation of RGBCamera for working with arbitrary cameras
  • MultiprocessRGBRerunLogger and MultiprocessRGBDRerunLogger now allow you to pass an entity_path value which determines where the RGB and depth images will be logged
  • MobileRobot and KELORobile interface and subclass added, to control mobile robots via the airo-tulip package
  • drivers for a Schunk Gripper using a USB connection, might require additional work to make them more stable. Remko is the go-to person.
  • airo-mono packages are now on PyPI 🎉

Changed

  • coco-to-yolo conversion now creates a single polygon of all disconnected parts of the mask instead of simply taking the first polygon of the list.
  • Dropped support for python 3.8 and added 3.11 to the testing matrix #103.
  • Set python version to 3.10 because of an issue with the ur_rtde wheels #121. Updated README.md to reflect this change.
  • URrtde will now try connecting to do control interface up to 3 times before raising a RuntimeError.
  • Renamed Zed2i to Zed and zed2i.py to zed.py, but kept the old names as aliases for backwards compatibility
  • Locked numpy to versions <2.0 for compatibility with opencv, since we are using a locked version of opencv that is not compatible with newer versions of numpy.

Fixed

  • Fixed bug in get_colored_point_cloud() that removed some points see issue #25.
  • Fixed bug requiring unplug-and-plug of USB cable for Realsense: see issue #109.
  • Fixed bug with Realsense cameras raising RuntimeErrors in RGB-depth alignment when CPU is busy. The camera will now try again once after 1 second.
  • Removed camera imports in airo_camera_toolkit.cameras: see issue #110.
  • Added __init__.py to realsense and utils in airo_camera_toolkit.cameras, fixing installs with pip and issue #113.
  • Fixed bug that returned a transposed resolution in MultiprocessRGBReceiver.
  • Using Zed.PERFORMANCE_DEPTH_MODE will now correctly use the performance mode instead of the quality mode.
  • Shared memory files that were not properly cleaned up are now unlinked and then recreated.
  • The wait interval for shared memory files has been reduced to .5 seconds (from 5), to speed up application start times.

Removed

  • ColoredPointCloudType

- Python
Published by m-decoster 11 months ago