🚀 Distro 2025.11.0 Released

[Nicogene]

2025.11.0 Distro Announcement

Brief description of the announcement

Hello @robotology/everyone 👋

The iCub project is happy to announce our Software Distro 2025.11.0 📦

This is a major release that comprises binary packages as well. Therefore, follow the instructions available in our documentation to upgrade your system and/or download the new dependencies.

You can find the tags composing this distro in our Software Versioning Table.

Important

You may have heard about the begin of the IIT spin-off gbionics, some software currently included in robotology-superbuild will be developed and maintained by the people that will join the startup, then in the next months we will possibly make important changes on the superbuild, that may affect the distro release cycle.

Note

Here instead a message from the friendly neighborhood Distro Manager, I pubblicly thank @traversaro and all the people that in these years help me to keep this machinery up and running, good luck for this new adventure!

Detailed context

This new release introduces significant improvements to our software ecosystem, below is a detailed breakdown of the key updates, complete with links to the relevant resources.

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⚙️ POS service refactoring

We introduced a significant architectural update to the Position (POS) service within the iCub/ergoCub robot control framework. The core change involves refactoring the service to switch its parent class from IAnalogSensor to IEncoderArrays. This migration aims to improve compatibility with existing components like the multipleanalogsensorsremapper and multipleanalogsensorsserver, thereby modernizing the handling of Position Sensor (POS) data.

Here is the PR:

• POS service refactoring icub-main#1044

⚙️ Added iCub v2.10 in iKin

The latest iCub version, v2.10, mount a new serial neck, called mk3, and has the new eyes mk4, housing hi-res cameras:

• Neck mk3
• Eyes mk4

In:

• [iKin] - Introduce iCub v2.10 icub-main#1043

We implemented the changes required in order to represent this new iCub version in our kinematics library, iKin.

⚙️ Refactor CAN decoder

In:

• Refactor CAN decoder to allow easier development icub-firmware-models#146

we reconstructed the CAN decoder component to simplify the process of adding new message parsing logic for developers. The primary change involves removing several complex state machines and replacing them with a single CANParser utilizing simpler state-flow functions. This refactoring makes the code cleaner, more maintainable, and favors future expansions of the decoder, specifically enabling the subsequent addition of configurable parameters (like Vmax) via CAN, as referenced in a related issue.

⚙️ AMCFOC : Added Trajectory Planner and Position Control Mode

In:

• COMMON, AMCFOC : Added Trajectory Planner and Position Control Mode icub-firmware-models#148

we introduced the capability to switch to Position Control Mode for the actuators, along with the implementation of a Minimum Jerk Trajectory Planner for smoother movements. The changes involved updating the supervisor logic, revising the position PID cascade, and fixing a bug in the Rotor-Stator calibration process.