Release Notes

V0.8.15 (2026-06-03)

• Fixed a thread exit timing anomaly in the third-party motor module.
• Optimized the RealSense .so library file search strategy.

V0.8.14 (2026-04-20)

• Fixed CAN error (can-bus-off).

V0.8.13 (2026-04-15)

1. Added Emergency Stop Support for NVIDIA Jetson Orin NX

Starting from this version, the AlphaBotCore SDK supports three sets of emergency stop configurations. When using EStopMonitor, it is recommended to explicitly specify an EStopMConfig configuration, as default configurations will be removed in future versions.

Available Configurations

• SysfsGpio(): For NVIDIA Jetson Orin NX
• NvidiaOrin(): For NVIDIA Jetson AGX Orin
• ApacheOrin(): For Apache Orin

Sample Code

C++

EStopMonitor esm(EStopMonitor::EStopMConfig::SysfsGpio());      // NVIDIA Jetson Orin NX
// EStopMonitor esm(EStopMonitor::EStopMConfig::NvidiaOrin());  // NVIDIA Jetson AGX Orin
// EStopMonitor esm(EStopMonitor::EStopMConfig::ApacheOrin());  // Apache Orin

Python

cfg = EStopMConfig.SysfsGpio()     # NVIDIA Jetson Orin NX
# cfg = EStopMConfig.NvidiaOrin()  # NVIDIA Jetson AGX Orin
# cfg = EStopMConfig.ApacheOrin()  # Apache Orin

2. Added Structured Fault Codes

To improve consistency and extensibility of fault diagnosis, new fault code interfaces have been introduced:

• get_fault_codes(): Returns the list of fault codes. This interface is available for the arm, torso, head, and chassis modules.
• get_end_effector_fault_codes(): Returns the fault codes of the end effector. The current version supports only the gripper, and this interface is provided by the arm module.

Tip

Both interfaces are available in C++ and Python.

3. Updated Realsense Camera Low‑Level Library

The underlying driver library for Realsense cameras has been upgraded, improving multi‑camera start‑up performance and mitigating stuttering issues. Actual improvements may vary depending on hardware environment and concurrency load.