Update package maintainers #238
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This commit updates the package maintainers as the project's governance has changed a bit.
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urrsk
approved these changes
Dec 16, 2024
urfeex
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that referenced
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Jan 10, 2025
This commit updates the package maintainers as the project's governance has changed a bit.
Matteo-Exsensia
added a commit
to PIY-project/Universal_Robots_Client_Library
that referenced
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Jul 22, 2025
commit 1b0be72ea09abcfdd402ce0a4cebe63d5bcb352e
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jul 21 10:29:18 2025 +0200
2.2.0
commit b774ea25d10fad9c028a8288918d3c6274e894bb
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jul 21 10:28:54 2025 +0200
Update changelogs for upcoming release
commit f5b7af098c50f408c6ef6880e3624291378f3100
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jul 18 11:10:07 2025 +0200
Remove print statement when executing optimovel primitives (#365)
That is the only primitive type that prints. Probably a leftover from
debugging the implementation.
commit 7dec73d3c2b0e5cc7da125f63f564385a910f77f
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jul 18 08:54:23 2025 +0200
Remove SDK version mapping (#355)
The PolyScope X Docker images do now also support marketing version
tags. Thus, we can skip the SDK number to marketing version mapping.
This way new versions will be available as soon as the Docker image is
available.
commit 289c747850e2bd0c6262a39310b2ae56593baee6
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jul 8 15:06:21 2025 +0200
Support optimove motions in InstructionExecutor (#354)
Add support for optimovej and optimovel in the InstructionExecutor.
commit b4c6c8f27daf287a8689ce88cfced1d21f1a79a9
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jul 3 11:01:36 2025 +0200
Initialize ReverseInterface with a config struct (#351)
This way, we will be able to supply additional information such as the
robot's software version to the ReverseInterface without breaking the
API.
commit 96b63818052df55cec6051dfedead575132689d7
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jul 1 08:16:24 2025 +0200
Join thread_move instead of killing it (#349)
Once we change the operational mode to STOPPED in the main thread, the
move thread should stop by itself, so we can wait for it to join.
commit da53d18c464a2c0ec5cc5b0d343ccc8dbb05ca08
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jul 1 08:13:41 2025 +0200
Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 (#350)
newer versions support polyscope 10.8.0 and above only.
commit bff7bf2e2a85c17fa3f88adda241763040596ff1
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Jun 18 08:37:13 2025 +0200
2.1.0
commit b8f353ae04aff39c4fbab422fcaaa7df6da6ea42
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Jun 18 08:37:02 2025 +0200
Prepare changelog for upcoming release
commit 3acf8f9d32eb21d89d3e6956bef9c6c6dee98806
Author: Andrew C. Morrow <andrew.c.morrow@gmail.com>
Date: Wed Jun 18 02:34:09 2025 -0400
Minimal support for building on macOS (#341)
commit d0d9365605d1d960d7a06346dfeb6ab840b97a54
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jun 17 22:26:55 2025 +0200
Install endian.h and add that to the target include directories... (#345)
... on Windows and MacOS
When installing this library the source directory might not be
available, thus we need to install the header. However, we need to make
sure it is doesn't spill into the global include directories to shadow
and os-specific installations e.g. on Linux.
commit f0ee8caf9a4aaf9caa6ff74eb35faca5c0c8d159
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jun 16 11:03:11 2025 +0200
Add ScriptReader for script template parsing (#343)
This PR adds a script parser that extends the templating capabilities
when loading script code.
In particular that allows
- Variable substitution (exists already, but this was refactored)
- Conditionals
- Includes
With this we can add script code that only compiles on later software
versions only if the required version is used. This way, older software
versions can still be used, the new feature will simply not be present
there. So far, when using new script code functions, the code would not
have compiled on newer versions effectively increasing the minimal
required software version.
---------
Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
commit 6825b64e1fa718e17aa9a562b1283432de0b8c72
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jun 13 14:15:01 2025 +0200
Add more tests for VersionInformation (#344)
commit 4118cfdbeb8f807c945c9886fdd7f498073b70d9
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jun 3 14:49:10 2025 +0200
Fix driver branch for Jazzy downstream build (#339)
The driver has branched out for Jazzy, we need to update this.
commit 0cdd411798eeed88197eaf9cb2b8e0bce7f2a9f2
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Mon Jun 2 18:41:55 2025 +0200
Stop control, when UrDriver object is destroyed (#338)
commit 12b842a721430da551f9f3fae55a1771cb290731
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jun 2 14:06:39 2025 +0200
Add new robot types to URSim startup script (#331)
This adds support for starting robot models
- UR7e
- UR12e
- UR15
This also adds support for URSim 5.22.0 and 10.9.0 (which is the requirement for the
above robot models)
commit 07715e0b2929bce3f88b52c61fcf3094ee842180
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jun 2 11:04:27 2025 +0200
Fix robot message type POPUP (#335)
Before it was using the name PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE
As far as I can see that error has been there for all eternity, but that
type es never used anywhere.
Strictly speaking, this would be breaking API, but the old naming was
clearly wrong, so users should not rely on that faulty behavior. Also
parsing that type is not implemented in the library, so this is most
probably not used by anybody. That would be my argument to make that
change without major-bumping the library. @urrsk @urmahp would you
agree?
commit d2c899b3123518316c18a804e451fc429f6113b5
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jun 2 11:03:46 2025 +0200
Disable checking links for two broken ones (#333)
- rosin-project.eu seems to be down. We want to keep attribution to the
project, nevertheless.
- We get a 403 on that stackoverflow question. I don't know why, but
let's ignore that in the report.
commit 5bbe874175df6c5b282214e10099fe74794eabae
Author: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
Date: Wed May 28 08:57:53 2025 +0200
readme: load ROSin imgs from press_kit repository (#334)
As per title.
I pushed the logo + EU flag to
[rosin-project/press_kit](https://github.com/rosin-project/press_kit).
commit 6dcfaeeb78163187c791c6a62f5f9f3570c21967
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Fri May 23 14:09:56 2025 +0200
Added configuration data to packages parsed from the primary interface (#327)
Co-authored-by: Felix Exner <feex@universal-robots.com>
commit ccc2e5ab02588b2b495390d3a466bce602d184cc
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Mon May 19 08:58:27 2025 +0200
Correct message sum in test_tool_contact (#324)
commit 28573301c63d77ed8e20d29b2a7d8cc64dc9a618
Author: Felix Exner <feex@universal-robots.com>
Date: Thu May 15 11:07:30 2025 +0200
Fix the image sizes in architecture section (#321)
When browsing the documentation on a big screen images at 100% scale
might look too big to read. The fixed size will be treated as a maximum
size, so on smaller screens the image will still scale down.
commit 3c985120bbe367f460d107160dcb883483d47e1c
Author: Felix Exner <feex@universal-robots.com>
Date: Wed May 14 13:07:33 2025 +0200
Check links using lychee (#319)
Recently, our check_links workflow was failing very often, apparently
GitHub has introduced new rate limits. I played around with
[lychee](https://github.com/lycheeverse/lychee-action), a tool
specifically made for link checking, which supports caching and even
understands local links in Markdown and RST files.
commit 99ac21d636b243401a9aa55446305e2f52997241
Author: Felix Exner <feex@universal-robots.com>
Date: Tue May 6 13:36:09 2025 +0200
Update ROS distributions for industrial_ci (#317)
- Added ROS kilted
- Removed upstream workspace from noetic driver. That shouldn't be
necessary.
commit a4226e83ed0102dde8f5ce7fe474e0a35396ed5e
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Apr 28 14:50:37 2025 +0200
Support PolyScopeX simulator for 10.8.0 (#315)
As per subject.
commit 6eb3b530007f04f9b891bdf060a82c3eedadb626
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Apr 25 10:51:19 2025 +0200
Add an API reference page to the docs (#314)
There is a doxygen-generated API documentation as part of the ROS
package documentation. We should at least link to that.
commit ba00e69f5fb06eb8d6d3f817b3ca236a881b5602
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Apr 24 09:03:02 2025 +0200
Update documentation (#309)
- Add anchor to main page to be used by the assembled documentation
- Add github_url directives in order for the "Edit on GitHub" links to
work properly in the assembled documentation.
commit 834dee2b60751b83f0f59e2487017270f0959bed
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Apr 16 10:38:04 2025 +0200
2.0.0
commit c01b4bc384b6aa8d1c10777486a67be5e672d33a
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Apr 16 10:37:48 2025 +0200
Prepare changelog for upcoming release
commit 96351221eed78a040f5c2f2961b9ce46dfad9060
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Apr 16 05:29:37 2025 +0200
Add functionality to send MoveP and MoveC instructions to the robot (#303)
This PR aims at supporting to send MoveP and MoveC commands to the robot
directly through the TrajectoryPointInterface and the
InstructionExecutor.
commit 1632f6d2635cb809186939a4e4160f1cb0831937
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Apr 11 13:44:38 2025 +0200
Fix naming issues (#307)
We have been a bit inconsistent in the past when it comes to naming
public members.
While the changes in 71bab65250477a09a79bf112d860e146ef517a57 and
42cf1473998b0747e7504aa0bf7bdcda10f2067b would probably not impact many
people, the changes from bef94bbe7cc2d49d1c3d9167bbc164d7544504c6 would
be more impactful.
Potentially there would be many more changes in the message structures
for the primary and RTDE interfaces which I have disabled for now.
commit 3ca3774d44370d8e0cbf560950a205d7c2677799
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Apr 11 13:43:17 2025 +0200
Add more tests for start_ursim.sh (#305)
This should fully validate input argument parsing.
commit c832d36805ac65d02f18371c797aabd7313d7040
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Apr 11 10:00:53 2025 +0200
[start_ursim.sh] Use direct web pages instead of GitHub API to download URCap (#308)
The API is rate-restricted on an IP address level. And with IPv4 that IP
address is potentially shared between many users of the same ISP.
This PR uses the release web pages to find the latest release.
Basically, it uses the link to the latest release which will be
forwarded by GitHub to a web page using the latest version. Thus, we can
get the latest tag from the redirected URL and use that to build a valid
download link for the latest release.
commit daed2434827febccc9830d914faf36027518bb65
Author: xndcn <xndchn@gmail.com>
Date: Wed Apr 2 16:44:53 2025 +0800
Fix typo in freedrive example document (#304)
commit 566d4ce120748b94a02b18afd5b239661b6c245d
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Apr 2 10:44:37 2025 +0200
Always download and install the latest URCap(X) if not present (#301)
Downloads the latest version of
https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap/releases
or
https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX/releases
and installs that on the URSim container while starting.
commit 181a73161867b901b4fc8d2b573d41f9d5bce4f7
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Apr 2 09:06:54 2025 +0200
Document robot setup for PolyScope X (#302)
Now that we have the External Control URCapX released, we should add
that to our setup instructions.
commit 96dfebaaf45ac23c2217cfbc516dbfbf6d4ab1a2
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue Apr 1 16:31:55 2025 +0200
Bump bats-core/bats-action from 3.0.0 to 3.0.1 (#300)
commit 87fd042e682028f3c494071e4244d61b8569e73b
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 31 13:30:31 2025 +0200
Polyscope x integration tests (#295)
Run integration tests against a PolyScopeX URSim in CI
commit 41d4d01448be53862d9c6c63f1170f826b220a19
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Mar 28 11:17:04 2025 +0100
1.9.0
commit a2bb582635d9ea9fb9828ed497b4b6f24895ca1a
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Mar 28 11:16:26 2025 +0100
Update changelog for upcoming release
commit f977b70e60559cb4fd69b67eedbda0366e6b5104
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Mar 27 14:30:04 2025 +0100
Make start_ursim.sh support polyscopex (#294)
This adds support for starting a PolyScopeX-based URsim. The default
version will still be the latest PolyScope 5 version.
At this moment, this does not install the External Control URCapX as we
don't have a download of the built package available.
---------
Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
commit 46934ccd32f12fce41c81303b4b9c3dc50e7a9cc
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Mar 26 09:59:44 2025 +0100
Reduce usage of dashboard client in tests and examples (#296)
As we now have more capabilities in the primary interface, we don't need
to rely on the dashboard client to initialize the robot in the example
robot wrapper.
commit b42da6d59ad2e6259809a547aea9c3de4218179b
Author: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Mon Mar 24 11:09:11 2025 +0100
Try catch RTDE setup (#285)
In #266, we improved the behavior of the urcl regarding reconnection
attempts and timeouts for sockets. However, there are still a few
problems (more to come later). I propose to fix one of them here to keep
the scope of the PRs small.
`RTDEClient::setupCommunication` is called in a while loop, and inside
`RTDEClient::setupCommunication` there is a call to
`pipeline_->init(...)` which in turn calls
`producer_.setupProducer(...)`. `setupProducer` (see
[here](https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/62d34dff101bc460a4d36692405fd076974b8791/include/ur_client_library/comm/producer.h#L67))
throws if the connection of the `stream_` (which is just a tcp socket in
my understanding) fails. Hence, if the RTDE sockets are not available,
this causes the initialization sequence to terminate immediately and not
retry for the desired `max_initialization_attempts`.
Now that I have a deeper understanding of the URCL after digging deeper
a bit (sorry that I didn't bring that up earlier), I don't fully agree
with the `rtde_initialization_attempts` and
`rtde_initialization_timeout` anymore since the RTDE sockets are just
usual tcp sockets that are already subject to
`socket_reconnect_attempts` and `socket_reconnection_timeout`. This
means that currently it's just a while loop of connecting tcp sockets in
a while loop for the RTDE connection setup which is maybe not really
necessary and just creates a lot of delays. But it's also possible that
I miss an important detail about RTDE comm so maybe my feeling is wrong
here.
commit 9d01f092a3c2f1efe5f92eedd11c0ccf7a233d7b
Author: Andrei Kholodnyi <Andrei.Kholodnyi@gmail.com>
Date: Mon Mar 24 10:00:30 2025 +0100
add missing headers (#290)
There were some headers missing, which lead to build problems on some platforms.
commit 8ad298f17ca357e8cb2f6fc1b9bea2724d056891
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Mar 20 10:26:46 2025 +0100
PrimaryClient: Add methods to unlock protective stop and stop the program (#292)
Add functionalities to stop the running program and to unlock a
protective stop through the primary client.
commit ce6aec261922864524985f29b46b6113927af2ef
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Mar 18 11:45:32 2025 +0100
Set increased timeout in dashboard client test (#293)
The test seems to be flaky with 1s timeout. As we use 10 seconds at
other places, as well I guess it wouldn't hurt to use this in the tests.
commit 8f7eb202e4654134243bf34aedf0ad8eece70c62
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 17 13:52:40 2025 +0100
Do not print a warning when querying the dashboard server for a running program (#287)
Before, the dashboard client was printing a warning when no program was
running and the `commandRunning` call was made. However, not having a
program running is an absolutely valid result of that command, so it
should not produce a warning about an unexpected answer.
commit 187e959a923f8d1d95625a16b9d1334a40e7d97a
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 17 13:31:59 2025 +0100
Primary client power on (#289)
This allows power-cycling the robot remotely without using the dashboard
server.
commit 23a6e42bccdb960fe1b28f7ad808e954ac2623c8
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 17 10:47:47 2025 +0100
1.8.0
commit f4f5ba775517721fc8cbaeb3cc7e72d7cf99a6a8
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 17 10:47:27 2025 +0100
Update changelog for upcoming release
commit ee4614474d777c9f2ed78af993c16743bcf38c67
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Mar 14 11:32:56 2025 +0100
Remove unused variables (#288)
There were a couple of build warnings introduced earlier. This fixes
them.
commit 67e4b82e2df06c972d69304360b7b86efdca7e22
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Mar 12 09:39:52 2025 +0100
Remove direct primary and secondary stream from UrDriver (#283)
And replace them with the PrimaryClient.
---------
Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
commit 60a46ba2f99fa2c531fdb89ba3b51b19625ff5fc
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Mar 12 08:54:04 2025 +0100
Configure gcovr to ignore negative hits as errors (#284)
This seems to be an error in gcov and this occasionally makes our
pipelines fail. As a consequence, we just re-run the job hoping that
doesn't show up as it doesn't seem to be completely deterministic.
Instead we could just ignore that particular error.
commit 62d34dff101bc460a4d36692405fd076974b8791
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Mar 5 08:08:30 2025 +0100
Add an explicit CMake option to turn on/off integration tests (#282)
This should make it more obvious how to turn on / off the integration
tests.
commit 245c01a01aa0a13250c867a9d30f5eb126a43b26
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Mar 4 15:25:42 2025 +0100
instruction_executor: Allow canceling an instruction (#281)
This allows cancelling a running motion with the InstructionExecutor. As
executions are blocking, they have to be run in another thread to be
able to be canceled.
commit dafaedf1f67e5e8c110aeba98eff44696cd18a69
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Mar 3 05:06:51 2025 +0100
instruction_executor: fix movel test (#280)
The unfeasible target for `movel` with the instruction executor seems to
be flaky. Since with `movel` we cannot request a motion running outside
the reachable volume without running into a singularity, we'll have to
check for a protective stop, instead.
commit caf852980b2cd0818c658cfb44a2cabe3589d6a2
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 26 14:50:24 2025 +0100
Fix buffer order of acceleration and velocity (#279)
This was read in the reverse order from the script. The order used in
the buffer follows the strategy that for splines it is possible to use
velocities while not providing accelerations, hence they are in the
buffer earlier.
commit 205cabd230d78fdab1034d37a57c87c79363eb3f
Author: VDm <vdm-dev@users.noreply.github.com>
Date: Tue Feb 25 16:12:12 2025 +0400
Support compilation on Windows (#229)
This commit makes the ur_client_library compile on windows (with MSVC). This does not mark full Windows support and should be considered an experimental addition. It was tested that everything compiles fine using MSVC and that all examples work as expected.
---------
Co-authored-by: Felix Exner <feex@universal-robots.com>
commit c00bb3ca37e8f82dd44447487a8fcc88e6254b12
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 25 11:39:12 2025 +0100
1.7.1
commit 6df55593139345941a5c3118a0297327f92ad267
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 25 11:38:57 2025 +0100
Prepare changelogs for upcoming release
commit 8bc55ff4991569acde5e9a05379c854829089797
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 25 11:36:24 2025 +0100
Fix trajectory result in trajectory forward mode when no trajectory is running (#276)
Currently, when switching the control mode away from FORWARD, there will
always a trajectory result CANCELED sent to the trajectory socket. This
commit modifies the script code such that this will only be done when there
actually is a trajectory running.
It also adds a test for that.
commit 66b134e7256062cf5d7848fa0ba4eef6df731b5d
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 25 10:37:47 2025 +0100
Remove sending an idle command in quintic spline test (#275)
Sending an idle command makes the URScript send a cancelled
trajectory result sent back.
commit 2627262ac56c262b5890614a8b35cb9977ccf62b
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 25 08:57:16 2025 +0100
In servo mode always allow targets close to current pose (#273)
If the target has been interpolating too far away from the robot, so it
would trigger the limit check, but the target is close to where the
robot currently is, also accept the command. This can, for example,
happen if a command series was too fast for the robot to follow, which
triggers a path deviation on the commanding side and that is mitigated
by a hold-position command.
commit 44b650f81b343c65875de49cad5579d4f735ed44
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 19 17:01:40 2025 +0100
1.7.0
commit 379548b183798683d9ff3c4aee2c041a374a4790
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 19 17:01:17 2025 +0100
Update changelog for upcoming release
commit cca31176b32b7e5ec2070dbc7917610b413eaf80
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 19 14:49:39 2025 +0100
Make UrDriver tests run without ctest (#270)
As `ctest` runs each test individually, an error with test
initialization introduced earlier didn't show.
This change makes sure that running all tests consecutively with
initializing the test suite only once works correctly.
commit d8e1ff96ac19138cebecf608b33d01f6edaa618c
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 19 14:49:27 2025 +0100
UrDriver: Send program in headless mode after creating trajectory and script_command servers (#271)
Before, we were sending the script code for execution to the robot and
then opening the sockets that the script would connect to.
This has been working fine in most cases, but that fails when too much
time passes between the two steps. E.g. I experienced that when having
debug output switched on, the robot script was not able to connect to
the sockets.
From my understanding this has been overlooked and there is no specific
reason why the order was like that. Opening the sockets first and then
sending the script seems to make more sense.
commit 99f0a7689ce5d2d6ca3cffc6e18fb65210ed9975
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 18 15:32:02 2025 +0100
Improve limit check (#256)
This should reduce the limit check getting triggered and also improve
the check's output for debugging purposes.
commit 55ec7164bc574bb0c9c4cb642a0b5bbc3af1c829
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 18 15:30:05 2025 +0100
Use colored log output and timestamps in default log handler (#267)
I've had this lying around when implementing things. Maybe that would be
useful to have it in the general library.
commit fecb175f94c1515f4140a06d21f720bc86880148
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 18 09:28:37 2025 +0100
Parametrize reconnection time for UrDriver (#266)
It would be beneficial to allow reconfiguring the
connection attempts and timeout of the UrDriver / RTDEClient.
---------
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
commit 9890ba75553df0111b54798a0897164e26e5350c
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 18 08:59:10 2025 +0100
Fix DashboardClient load program from subdir (#269)
When loading a program from an absolute path or a subdirectory instead
of a file being directly in /programs (or /ursim/programs in the case of
URSim) the check "programState" will only return the filename without
the path while we compare it against the path that was requested to
load.
This commit only compares the actual program's filename, as the full path
is already checked during the load operation.
commit 97ad8256a9d582fb595c9e593e158c624b193e32
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Feb 11 10:06:27 2025 +0100
Increase dashboard timeout in ExampleRobotWrapper to 10s
commit c380b8e15b7b98e69df0ddaa2ff267ba76e0941f
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Feb 7 17:34:25 2025 +0100
Disable internal deprecation warning
We forward the deprecated setKeepalive method through the UrDriver which
triggers a depracation warning. We disable it (for GCC) for this call.
commit 1ed96678470cf59e83a7dbb37fed53b5e7432a8e
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Feb 7 17:19:00 2025 +0100
Use a config struct for initializing UrDriver
commit f717f83c5943b1ef2bc722e7313f0ebe6d3cf1c9
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Feb 10 15:19:58 2025 +0100
Use ExampleRobotWrapper for initialization in all examples (#265)
This way the examples are a lot shorter and initialization is the same
everywhere, making things easier to maintain.
commit b9b9fcf879ce1f2e18c61b873d730d80ec00dee8
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Feb 7 15:46:10 2025 +0100
Enable nightly CI jobs (#263)
For now I've only added the standalone builds and tests.
This should give us more insight on flaky tests. Also, this runs the URL
check so we find broken links earlier.
commit 61680ae97459f37cd8a261cb446b23c304e5db7d
Author: jessica-chen-ocado <101597158+jessica-chen-ocado@users.noreply.github.com>
Date: Fri Feb 7 08:20:46 2025 -0500
Expose diagnostic error codes (#225)
This adds very basic support for a primary interface client. With this, it is possible to get a list of all recorded error codes sent from the robot.
The client is intended to be further extended in the future.
---------
Co-authored-by: Felix Exner <feex@universal-robots.com>
commit 316b1b30abb976a36ff9ac6e84fdcd9fb50bf4d8
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Feb 6 13:06:06 2025 +0100
RTDEClient: pause and stop in destructor only if running (#257)
Otherwise we produce an error when destructing an initialized, but
non-started client.
commit d348df3eabf74cd0bfcb580231258a06562e8c4e
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Feb 6 12:31:55 2025 +0100
Use coverage flags to distinguish between runs (#261)
Currently, we run separate coverage jobs for the different software
versions. We run unit and integration tests for
- The lowest supported CB3 version with a UR5 (Currently 3.14.3)
- The lowest suppoted PolyScope 5 version with a UR5e (Currently 5.9.4)
- The latest PolyScope 5 version with a UR20
All of these gather coverage data, but take different branches in the
code due to version-dependent execution. As we generate and upload
coverage data for all of them, coverage data varies slightly. This
approach uses individual flags for each matrix entry. I am not 100% sure
whether this does what we want, but I want to give it a try.
commit c956c83cc3f61391e2cc81b10cc6060250af3d82
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Feb 6 11:46:45 2025 +0100
Fix branch name for integration tests run on push (#262)
They were setup to run on "main" while we have "master"
commit 8f7e9cff170ff222be63a90237ec7d7cea526e6e
Author: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
Date: Thu Feb 6 11:15:59 2025 +0100
Add codecov/test-results-action (#260)
commit bc404d967c13fe5aa1481e20fdedabab8fe9bc2a
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Feb 5 09:56:01 2025 +0100
Fix GH edit URL for trajectory_point_interface example (#259)
That was wrong when introduced earlier
commit 88d31b9a0105035a1affd247b5f2e5f806b22296
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Feb 3 13:50:49 2025 +0100
Update URL check
* Make sure the real_time doc string is picked up by the URL check
* Do not check already checked links in url_check
This should greatly speed up things
commit edd6e94daecc7bf015c22b3347c05cad86316e19
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Feb 3 11:54:23 2025 +0100
Show which example is running in run_examples.sh
commit 78875f5b640530fc7a5fd69d42bd6983be67633b
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jan 21 16:32:52 2025 +0100
Add documentation for all examples
* Move ur_driver example docs to examples subfolder
* Update example documentation for ur_driver example
* Add dashboard_client example documentation
* Add documentation for force_mode example
* Add documentation for freedrive mode example
* Add instruction_executor example doc
* Add example documentation for primary_pipeline
* Add example documentation for primary_pipeline_calibration
* Add example documentation for RTDE client
* Add documentation for script sender example
* Add example documentation for tool contact
* Add example documentation for spline example
* Add example documentation for trajectory_point_interface
commit f4a563e978e280eb0e14ed619e1abbdc5fef1fc9
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jan 31 10:28:44 2025 +0100
Update RT setup documentation to point to urcl docs
commit fd2fda3c784df1f20c64fa8360f7272300e0cb3c
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jan 27 13:52:45 2025 +0100
Use EXPECT_NEAR vs EXPECT_EQ
commit 5544c98d68053ee3a194ee8f5bd99bbc23269bbd
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Jan 29 11:49:31 2025 +0100
Fix typo in start_ursim.sh help
commit 6aad4ff58ff77e4322fdf8c67017ca0b7819c7b6
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jan 27 12:28:39 2025 +0100
Make CI capable to run with urcap
commit cb79da817f3441170662d127204b22cf4871df24
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jan 24 15:07:07 2025 +0100
Use ExampleRobotWrapper in integration tests
* test_instruction_executor
* test_spline_interpolation
* test_ur_driver
commit 6509961d8e900311fc153d648823b6a5cf0ed0d7
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 23 13:00:56 2025 +0100
Add a wrapper to handle all robot setup
commit ce779b3b100a99337a8a20663484db43e5923db3
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 30 12:50:48 2025 +0100
Allow clang-format to indent preprocessor directives (#246)
Our current clang-format structure does not allow indenting preprocessor directives. As there might be more of them coming up, I'd like to add an auto-format rule for those.
commit 25d81bfc5cee814b0591db769529076228f5175a
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 30 10:03:27 2025 +0100
docs: Clarify that the motion functions use script functions for execution (#255)
Make it explicit that there is no magic going on here, but the motion
functions simply forward information to respective URScript functions
using the same parametrization and implications as the script functions.
---------
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
commit 3cbe1125bd510aeb39f206b11ca2190d2487e44a
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 30 08:21:56 2025 +0100
Update link to sphinx-doc.org using https (#247)
The http version seems to have been deactivated.
Same as
https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1240
commit fd2a938f4c708df2e086e2faea15bbc63342a7e3
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 30 08:21:32 2025 +0100
Use joint speed for extrapolation rather than differences (#254)
With the differences it could happen that the extrapolation was leading
to vibrations if commands come in at a lower rate.
With the pure diffs small numerical differences could lead to positive
interference with the extrapolation mechanism. This should be avoided by
using the joint speeds instead.
That should avoid the issues seen in
https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1258
---------
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
commit 0f6b513fdfd7c3bb541b2f34d0801b9ef377a5df
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jan 27 15:46:08 2025 +0100
Move setup instructions to ur_client_library (#248)
We want to move more common setup instructions to the client library.
It's documentation is pulled into
https://github.com/UniversalRobots/Universal_Robots_ROS_Documentation
anyway, so it will be available in the ROS documentation, anyway.
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
commit 2bab046048ffe9bdcf0b921ca09ba8f067664966
Author: Felix Exner <feex@universal-robots.com>
Date: Fri Jan 24 14:14:28 2025 +0100
Add more information about acceleration/velocity parametrization in trajectory examples (#251)
The examples were mainly using either time parametrization or implicit
acc/vel parametrization using the default values.
This adds more explicit acc/vel parametrized motions to the examples
with some explaining comments.
---------
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
commit 798b55b8b154c7556a75d1a3e7f42b76a1d21d43
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 23 13:25:36 2025 +0100
1.6.0
commit b5dae633b1f258e78e5e652081d89e21b99fbde2
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 23 13:24:54 2025 +0100
Update changelog for upcoming release
commit 09c690886dc221e5c9336258a541273e66719a47
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 23 13:06:46 2025 +0100
Do not throw exception in DashboardClient::sendRequest (#249)
I don't know why we changed it to throwing an exception. It doesn't make
sense for this function.
commit f3ea4e753a3517f8c693ea268e9ccf7fa1ebfe73
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Jan 23 07:48:58 2025 +0100
Add instruction executor for high-level robot control (#242)
With the trajectory point interface there is a method of executing
motions with only the urcl present as shown in
https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/trajectory_point_interface.cpp
However, usage is a bit cumbersome, we might want to support a one-liner
for executing ptp motions, instead.
This PR adds the `InstructionExecutor`, a high-level module that uses
existing functionality to provide simple-to-use interfaces, currently to
execute MoveJ, MoveL and sequences of the two. In future, we might
extend that to other instructions such as other motion types, but
possibly also other functionality, hence the more general name.
commit 93ded01a198d9c3e58b21860ff3a544aea0b714c
Author: Felix Exner <feex@universal-robots.com>
Date: Tue Jan 14 10:33:32 2025 +0100
Modernize cmake (#244)
Modernize CMake of the client library with regards to
- Properly set C++17 flag using target_compile_features
- Properly include googletest e.g. using
[CMakeFetchContent](https://google.github.io/googletest/quickstart-cmake.html#set-up-a-project)
These proposed changes should make this project easier to maintain and
build in different environments.
commit 00a2e4fc62e944ad911c42b04d67c1cfe909bbcb
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Jan 13 14:19:15 2025 +0100
Update links to dashboard server documentation (#243)
The pages have been moved.
commit 423801a53818ca19899a8317d3bff907ee82fd31
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Jan 8 12:49:18 2025 +0100
Trajectory point velocities and example (#241)
This PR adds the possibility to pass acceleration&velocity information
instead of time constraints to direct robot motions.
commit 6bc15539043713f6d0a6ce2626308db070e21564
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Dec 18 08:35:56 2024 +0100
Updated documentation (#228)
* Update sphinx theme
* Update welcome page with a one-liner
* Update installation / build instructions
* Update ScriptSender documentation with example
* Update rtde client documentation
* Add ci job for building the docs
* Update dashboard client documentation
* Add script command interface documentation
* Add reverse_interface documentation
* Add trajectory_point_interface documentation
* Move UrDriver component description to own file
* Update architecture overview graph
* Add notes about PolyScope X compatibility
commit 6d4918717295868075d18077b7cc5e2fc2f79e58
Author: Felix Exner <feex@universal-robots.com>
Date: Wed Dec 18 08:11:22 2024 +0100
Update ci (#239)
This is a cleanup of our current CI jobs. Particularly, this chages:
- Push event triggers only for master branch
- Updated clang-format
- Removed iron workflow
- Improved running ICI in ACT
- Enabled clang-tidy in ICI
commit 2c12beebb5d2457369233bf716414a43c7fe7062
Author: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
Date: Tue Dec 17 13:56:10 2024 +0100
Enable force mode compatibility with various move types (#230)
This should make force mode work with various of move types.
With this commit, the joint positions used for checks and interpolations
is now done without force mode modifications.
When the robot is in an offset situation, where the robot isn't at the position that
is currently used for motion commands, this will use the non-offset position to
check whether a new motion is within the reachable limits of the robot.
commit cf30c14ca9dee918ea23706d9e464da3165086d9
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Dec 16 13:53:36 2024 +0100
Update package maintainers (#238)
This commit updates the package maintainers as the project's governance
has changed a bit.
commit 638e75f9a0e3a09f4097f7063a6c717ede3cf9ea
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Fri Dec 13 15:25:31 2024 +0100
Bump codecov/codecov-action from 3 to 5 (#234)
commit 1d6b398e31718522f47ae2f29c5070f60b6d0d0d
Author: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
Date: Thu Dec 12 11:34:25 2024 +0100
Remove the not regarding MIT license (#237)
We no longer have the docker of ursim inside the client library, which
originally gave us this dependency to the MIT license
commit 6a6167e0126f3d1319de0099cb177549e3cc5a87
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu Dec 12 11:34:03 2024 +0100
Bump pre-commit/action from 3.0.0 to 3.0.1 (#236)
commit 09e01ca955ef51f57b5018461be7a7dee634b7a0
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu Dec 12 11:03:15 2024 +0100
Bump actions/checkout from 1 to 4 (#232)
commit 2e6e41dcc7262185c65ed533f089c2a3c921a3bc
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu Dec 12 10:29:55 2024 +0100
Bump actions/setup-python from 4 to 5 (#235)
commit 8fadbc9a6a5b22461c095a257fe4adeb20c2a2db
Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu Dec 12 10:29:13 2024 +0100
Bump actions/upload-artifact from 3 to 4 (#233)
commit ca44909f05f3396691da63bce39cf84571898081
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Dec 12 10:02:15 2024 +0100
Add dependabot configuration to update actions (#231)
This will check for action updates on a weekly basis
commit 4daad9b890943cfc22bee74df7ac8a069ca3ed6e
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Nov 25 16:08:49 2024 +0100
1.5.0
commit a556d35c2cccd5089ce585e482335cac7f928462
Author: Felix Exner <feex@universal-robots.com>
Date: Mon Nov 25 16:07:53 2024 +0100
prepare changlogs for upcoming release
commit fc7945604122408d67ae5cdcbad4a6deba9c0abd
Author: Remi Siffert <112959878+remi-siffert-ocado@users.noreply.github.com>
Date: Mon Nov 25 10:05:26 2024 -0500
Adapt RTDE output recipe based on robot response (#221)
Not all RTDE outputs are available in all SW versions. When working with
a fleet of robots with heterogeneous SW versions it's not practical to
have multiple RTDE output recipes to account for this.
This PR aims at solving this problem by adapting the RTDE output recipe
on-the-fly based on the robot response to the RTDE request. Outputs
which are not available for this particular SW version are simply
removed from the output recipe and a trimmed down output recipe is sent
to the robot.
Potential issues / improvements:
- variables removed from the output recipe only cause a warning. When
these variables are "optional" this is a fine behaviour but it could
potentially be masking incorrect variable names. Hence, this is an opt-in feature.
- an alternate implementation could be to hardcode the compatibility
information for RTDE outputs in `data_package.cpp` and validate the
output recipe beforehand. This seems less flexible though.
- the same logic could potentially be applied to the input recipe.
Having optional inputs seems less likely though.
commit bbac0b22af4fcc984aec89e344317b26efa7e944
Author: Felix Exner <feex@universal-robots.com>
Date: Thu Nov 21 08:43:08 2024 +0100
CI: Fix flaky example runs (#223)
The example runs seem to fail quite often. This PR aims at fixing that.
It seems that the simulated robot is reporting readiness for executing programs
a bit too early and if we execute the program rightaway it is not started correctly.
This only seems to happen in CI though.
commit d3baa8b36d7aa184dc152a96b91912e00dcf995c
Author: URJala <159417921+URJala@users.noreply.github.com>
Date: Mon Nov 18 22:26:28 2024 +1100
Giving force mode parameters as arguments when calling startForceMode (#208)
Co-authored-by: Felix Exner <feex@universal-robots.com>
commit ddbea3609408f31267d14d28d24377d2fbce4830
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Mon Nov 18 10:16:49 2024 +0100
Add more arguments to start_ursim.sh (#220)
Adding
```
-n for container name
-p for IP address
-f for port forwarding
```
This way, multiple instances of URSim Docker can be started on one host.
commit df9f95cebb6094cd30c4f5be8f989922fbf26f70
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Wed Nov 13 15:12:38 2024 +0100
Allow resetting the RTDE client (#218)
With some control modes such as the trajectory passthrough controller it
is actually possible to run the communication at much lower frequencies.
However, so far we always initialize the `RTDEClient` with the maximum
frequency that is possible on the respective model.
This adds a function to `UrDriver` to reset the `RTDEClient` with
another communication frequency.
## ToDo
- [x] Implementation
- [x] Write tests
- [x] Write documentation
commit 881adb0f8a425cba3090af5ec1d89fbdde117082
Author: Remi Siffert <112959878+remi-siffert-ocado@users.noreply.github.com>
Date: Fri Nov 8 02:51:32 2024 -0500
Tcp socket improvements (#222)
Couple of improvements related to TCP communication:
1. the error handling in `tcp_server::readData` seems wrong since the
error case should be when the number of bytes received is strictly
negative and not equal to 0
2. added early disconnection in `tcp_socket::read` in case of permanent
failure in order to ease failure detection
3. added robustness to `UrDriver::sendScript`: the program sending is
now retried once after closing and reconnecting the secondary stream.
This is the workaround described in
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/459.
It helps mitigate program sending issues when working with the UR ROS2
driver in headless mode.
New tests added for 2 and 3. For 1 the debug output of
`TCPServerTest::client_connections` seems to confirm the behaviour makes
sense. We now see `client from FD <xx> sent a connection reset package`
which is what I'd expect given the client willingly terminates
connection.
commit 85fbc559bbf8f62958eeae8c366d25358b280de1
Author: URJala <159417921+URJala@users.noreply.github.com>
Date: Wed Oct 23 17:11:20 2024 +1100
Added family photo to readme (#219)
commit 65b0e9d73869f90335ef9e70adbaa0e1f6a38a04
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Tue Oct 15 09:38:20 2024 +0200
Add missing algorithm include (#214)
This seems to be a problem otherwise when compiling with clang++
commit 9443dd133c5ecea8380d4f9bfc166a9309443fd8
Author: Remi Siffert <112959878+remi-siffert-ocado@users.noreply.github.com>
Date: Sat Oct 12 07:08:36 2024 -0400
Added missing RTDE data packages and fixed incorrect names (#213)
Updated the list of RTDE data packages for consistency with
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/.
Also added tests for all possible RTDE fields matching their software versions.
commit 173f1936ec82ebe6e5f96650cecb810db5f59b71
Author: Felix Exner <exner@fzi.de>
Date: Tue Sep 10 13:24:24 2024 +0200
1.4.0
commit f1eb9707bf428997d9dc272ef2de949e3738f88a
Author: Felix Exner <exner@fzi.de>
Date: Tue Sep 10 13:23:12 2024 +0200
Update changelog for upcoming release
commit f6cd468df35b964b0480dadb2b017325f7d20bfd
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Tue Sep 10 13:17:12 2024 +0200
Ensure that the targets are reachable within the robots limits (#184)
If there are jumps commanded to the robot the robot will not execute the motion.
This should serve as a safety mechanism to avoid sudden unexpected motions due to illegal input.
Co-authored-by: Felix Exner <exner@fzi.de>
commit e688988510ada482112b36308e49cd7603d64ec1
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Thu Sep 5 11:21:09 2024 +0200
Analog domain (#211)
This adds the possibility to specify the output domain when setting an
analog output.
commit 0f0321a9cdf84737dcac49b5e7f678ddf002e890
Author: Remi Siffert <112959878+remi-siffert-ocado@users.noreply.github.com>
Date: Fri Jul 26 07:44:12 2024 -0400
Fix clang compilation error (#210)
There was a c_str conversion missin in one of the log statements.
commit 613b2f9f81ed888c2fac9463963d6dc9d07ba762
Author: URJala <159417921+URJala@users.noreply.github.com>
Date: Tue Jul 9 12:41:15 2024 +0200
Moved reset of speed slider to correct teardown function, so that it … (#206)
…resets between each test.
commit a567be04ac507c145ebe3266d6ee48af41276f41
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Tue Jul 2 13:40:24 2024 +0200
[doc] Fix syntax in example.rst (#207)
The list wasn't formatted correctly
commit 548f3b78a80b87a3afbb155ab1e5a203f45807a0
Author: Felix Exner <exner@fzi.de>
Date: Mon Jun 17 13:31:13 2024 +0200
Added missing section about example driver
commit 8d90dc78d823c4589efa69446779dd4d11c97933
Author: Felix Exner <exner@fzi.de>
Date: Tue Jun 4 13:10:21 2024 +0200
Remove ignore for real_time.md
commit 2ea936f321e3e00acd3c53ac507bd81f19cafa4b
Author: Felix Exner <exner@fzi.de>
Date: Thu Jun 13 08:52:56 2024 +0000
Update link to documentation
commit 46629c3729e22fe3752e5221bf734c422698ba6d
Author: Felix Exner <exner@fzi.de>
Date: Thu Jun 13 08:48:49 2024 +0000
Specify languages for all code blocks
commit 92ca630b1f0b3277242d0e74f2c1186591cbbc80
Author: Felix Exner <exner@fzi.de>
Date: Thu Jun 13 08:48:38 2024 +0000
Added dummy files to static and templates dir
Sphinx seems to be picky about this files existing
commit ac57f166d5f2320424450a1a3fdd14ef32060fb4
Author: Felix Exner <exner@fzi.de>
Date: Tue Jun 4 13:07:42 2024 +0200
Correct doc dir for rosdoc
commit 419d7e8a94790a44abb40a77c2b3d1358da23d0c
Author: Felix Exner <exner@fzi.de>
Date: Tue Jun 4 13:06:55 2024 +0200
Update link checker script to produce more readable output
commit 4fc7bdbe5f21eb8775bd2b5cefa970238d2745cd
Author: Felix Exner <exner@fzi.de>
Date: Tue Jun 4 11:28:49 2024 +0200
Add pre-commit job for sphinx linter
commit 8aa19848ed2d2fd4860dc2ac8b1419f8b610fa54
Author: Felix Exner <exner@fzi.de>
Date: Tue Jun 4 11:18:51 2024 +0200
Update README
commit 22d966a8aebf503543edfa1f0d7ba7fad89561ca
Author: Felix Exner <exner@fzi.de>
Date: Thu Feb 10 14:07:10 2022 +0100
Added rosdoc sphinx documentation
With this we can improve our documentation experience by a hosted rendered documentation
on docs.ros.org.
commit dc6fd88c5e8c0a9efc5f9eff4888615ab8f86adb
Author: Felix Exner <exner@fzi.de>
Date: Mon Jun 3 14:05:47 2024 +0200
1.3.7
commit 71129cffe22aff1183237f43acd53ad7c821ddb6
Author: Felix Exner <exner@fzi.de>
Date: Mon Jun 3 14:05:19 2024 +0200
Prepare changelogs for upcoming release
commit 0a73cd1e5a0078bb75e3775648da4ef8804d9641
Author: Felix Exner <exner@fzi.de>
Date: Wed May 29 17:01:49 2024 +0200
Update CI
* Run downstream tests for ICI
* Correctly name jobs
* Test Jazzy driver
commit 0ca64c2fa73a3d040356c6cd4baf1a2fe5d62ff4
Author: Felix Exner <exner@fzi.de>
Date: Wed May 29 16:43:15 2024 +0200
Add program directory at correct location also when no model is provided
commit 97af030996c652b54965fa89402b4bd1e5de87ea
Author: Felix Exner <exner@fzi.de>
Date: Thu May 23 12:16:01 2024 +0200
[start_ursim] Always check ursim version for compatibility
Before, the version was only checked when explicitly specified. This could lead to errors if there was a local image with tag "latest" which was actually an old version.
commit 13eecaf2ed54d01d9df95e0c2bd975dfca56dc45
Author: Felix Exner <exner@fzi.de>
Date: Thu May 23 10:02:16 2024 +0200
URSim: Use a program folder per model
Otherwise we switch installation between different models all the time.
commit 1f20f0557462bd84d53646ff5d0b782863a58b43
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Thu May 23 11:29:22 2024 +0200
Update distros for prerelease test
commit 80aee077fe1b49879513e88e1d531df8372b7441
Author: Felix Exner <exner@fzi.de>
Date: Thu Apr 4 13:01:36 2024 +0200
1.3.6
commit 3618e2e8be4ad0ad23c935d0ec88dbfa321dc08f
Author: Felix Exner <exner@fzi.de>
Date: Thu Apr 4 13:01:09 2024 +0200
Prepare changelog for upcoming release
commit d21a4029edb917d319dad12ddcebf71f8d5b3fae
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Wed Mar 20 15:23:36 2024 +0100
Changed spline interpolation to use the last commanded joint velocity… (#195)
… when calculating the next spline in the trajectory
Also calculating the need max acceleration for speedj to distribute the change of velocity over the full timestep. This is important when speed scaling is applied.
This will fix issue #194
---------
Co-authored-by: urrsk <41109954+urrsk@users.noreply.github.com>
commit 49971155c4fdedf9086b9a0fc83c1ea1ae77ca56
Author: Felix Exner <exner@fzi.de>
Date: Fri Feb 23 11:18:49 2024 +0000
1.3.5
commit 58fe7e7a8e2f88129a956413047ba82149f588ba
Author: Felix Exner <exner@fzi.de>
Date: Fri Feb 23 11:18:29 2024 +0000
Update changelogs for upcoming release
commit 04725c15742de543ffdb89bd2f0dacb7556be15f
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Thu Feb 15 22:13:14 2024 +0100
Add support for UR30 in start_ursim.sh (#193)
The docker images now support the UR30, so we should add this as an option.
commit 914e68cd82661b304284b4751fb3b1c5763db761
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Thu Nov 16 14:38:28 2023 +0100
Add header guard to datatypes.h
commit 3e25ffc6f2a9cf05768dd2e2dc5e01c2d7fedc93
Author: Felix Exner <exner@fzi.de>
Date: Wed Oct 18 10:02:12 2023 +0000
Remove duplicated entry in clang-format file
commit 111ddf2aadc0cd6adadfd963687af2ab4ae61a78
Author: RobertWilbrandt <wilbrandt@fzi.de>
Date: Thu Oct 12 06:37:10 2023 +0200
Wait after docker kill to prevent name conflicts (#187)
While working on ros2 driver unit tests, i noticed sporadically failing
tests with the error message
```
2: [INFO] [start_ursim-15]: process started with pid [88538]
2: [start_ursim-15] ursim_net already exists
2: [start_ursim-15] docker: Error response from daemon: Conflict. The container name "/ursim" is already in use by container "f3ac67680b8da8c476966ac9b3ee2a4193b273379fa584647663bf5eb478c590". You have to remove (or rename) that container to be able to reuse that name.
2: [start_ursim-15] See 'docker run --help'.
2: [ERROR] [start_ursim-15]: process has died [pid 88538, exit code 125, cmd '/home/wilbrandt/robot_folders/checkout/ur_rolling/colcon_ws/install/ur_client_library/lib/ur_client_library/start_ursim.sh -m ur5e'].
```
Using `docker wait` after `docker kill` seems to fix this for me.
commit d150af4e3873e5fa0f9d2dc28c5292b51f937d7e
Author: Felix Exner <exner@fzi.de>
Date: Fri Sep 22 12:44:28 2023 +0000
1.3.4
commit c4b4855e78a5173e3f0eb2fd7de085746ce153e4
Author: Felix Exner <exner@fzi.de>
Date: Fri Sep 22 12:44:09 2023 +0000
Update changelog for upcoming release
commit 052652ba60c3a9c77b96999b5adc7c4d9c10194b
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Mon Sep 25 08:36:44 2023 +0200
Make depreaction warning for keepalive_counter in RevereseInterface a… (#183)
… warning instead of error
commit 9161d6b87bdb6533111a8e8761b13c98931da8ac
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Fri Sep 22 14:41:29 2023 +0200
Make depreaction warning for keepalive_counter a warning instead of error (#182)
commit c3bead7d000c3415a8045a8af0383afa1c47b33a
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Fri Sep 22 11:49:04 2023 +0200
Added watchdog configuration for the reverse socket (#178)
This enables the possibility to configure the read timeout for the
reverse socket running in the external control script
Separated control modes into realtime and non realtime to have different
possible configurations for the watchdog
Added test to verify the changes
Updated test and examples to coincide with the new changes
commit 868120b91dabe445083d04fdf69e7db96334503c
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Tue Sep 12 12:28:33 2023 +0200
Add support for ur20 in start_ursim script (#179)
UR20 Require URSim > 5.14
commit 479a197865b68a7eff95a32090ebb3819e627232
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Fri Sep 8 20:57:47 2023 +0200
Use pre-commit for clang-format (#175)
It has bothered be for quite a while that we have so many "code
formatting" commit inside our PRs. Using pre-commit enables us to check
formatting **before** we actually push something.
commit e2bebd62695767bc30e65d507409142378176c34
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Wed Sep 6 13:28:29 2023 +0200
Make tcp_server retry binding the socket (#176)
It sometimes happens that binding the socket fails since it is already
in use (e.g. when restarting the driver too fast). This commit should
retry binding instead of simply throwing an exception
commit b304e41a34e4fb376a0903d853ba7c67ac6599fb
Author: Felix Exner <git@fexner.de>
Date: Tue Sep 5 18:32:48 2023 +0000
1.3.3
commit f80b144160180c972136019412ba5ec53b041ec9
Author: Felix Exner <git@fexner.de>
Date: Tue Sep 5 18:32:41 2023 +0000
Prepare changelog for upcoming release
commit b90a3ec68c90762b9af8a399f40bb157398c052c
Merge: 7626fe5 174e0b5
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Tue Sep 5 16:04:17 2023 +0200
Merge pull request #172 from fmauch/max_num_tries
Add support for setting socket max num tries and reconnect timeout
commit 174e0b53ec1fe51a90b3b015dd473df411b5052d
Author: Felix Exner <exner@fzi.de>
Date: Tue Sep 5 13:19:05 2023 +0000
Fix tests
commit 1d4c0fb7632815679885396e5751f3f65d7bf2a6
Author: Felix Exner <exner@fzi.de>
Date: Mon Sep 4 14:10:37 2023 +0000
Set reconnection_time from setup method
Also deprecated the explicit method for setting up reconnection time.
commit b8d610468696906f3d51dd2922c742c6d5308587
Author: Felix Exner <git@fexner.de>
Date: Fri Sep 1 15:01:38 2023 +0000
Added test that fails connecting to a socket after n tries
commit f6189bb8172184057d914bb2493758b78e907a63
Author: Felix Exner <exner@fzi.de>
Date: Tue Aug 29 13:04:27 2023 +0000
Added docstrings and const qualifiers
commit 7626fe569a4d4e987c893742a7242e2ce5e9253f
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Mon Sep 4 15:27:23 2023 +0200
Unify socket open (#174)
* Define TCPSocket::open(...) inside TCPSocket class
Before, it as a virtual method that in its base implementation returned `false`
only.
It had to be (and was) implemented in several classes inheriting from it
and all implementations were the same. This commit defines the method inside
the base class directly.
* Make TCPSocket::setOptions private and TCPSocket::open static
commit bc365ff90250f78be15a8ed9142e5d16984fed45
Author: Michael Eriksen <michaelaeriksen@hotmail.com>
Date: Wed Feb 8 15:22:48 2023 -0800
added support for timeout and max_num_tries
commit cd0d4268ca0d9f5d75dcc18124936bbc44ec2d77
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Fri Sep 1 16:24:54 2023 +0200
Added handling of spline interpolation with end point velocities (#169)
Added test for spline interpolation and trajectory data as test
artifacts
When spline interpolation has end points with velocities, the time is
scaled such that the trajectory is followed, but we end with zero
velocity.
commit cb9c7f323bc31385235393e303bd1f71386aa9e2
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Thu Aug 31 15:21:40 2023 +0200
Throws exception if the URScript file doesn't exists (#173)
This will fix #142
commit 647676d83ccf283d6702b8b0f78608aec4be0b3d
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Tue Aug 29 14:44:07 2023 +0200
Added check to ensure receive timeout isn't overwritten (#171)
Added a test to verify the changes
commit e85b3ae0927533619e406be173c4c5d53af82c60
Author: Dag-Are Trydal <7108046+dagare@users.noreply.github.com>
Date: Tue Aug 29 11:04:48 2023 +0200
Added RTDEClient constructor with vector recipes (#143)
* Adds test of new vectorized constructor
---------
Co-authored-by: Jørn Bersvendsen <jornb>
Co-authored-by: Dag-Are Trydal <dat@applica.no>
Co-authored-by: urmahp <mahp@universal-robots.com>
commit f328157d681886d304c5213d2c69ca401a0a3372
Author: RobertWilbrandt <wilbrandt@fzi.de>
Date: Tue Aug 29 06:36:18 2023 +0200
Only warn if system is not setup for FIFO scheduling (#170)
commit 03d879e8a59f09c1006df45da7c18b5ff359706b
Author: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
Date: Mon Aug 28 12:44:57 2023 +0200
Ensuring that the Timestamp is always in the output recipe (#168)
* Timestamp is now added to the output recipe if not already defined
---------
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
commit 5b06798f1f741c095d5b11b22acc324aa771f07f
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Mon Aug 21 13:09:28 2023 +0200
Add Iron to CI tests
commit 22a4fb1f2a3bc89c044999837a44c05a8f62160e
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Tue Aug 15 10:20:54 2023 +0200
Add issue templates for bugs and features
commit 17a8aaeda8c1bbfabf69b628efdba7bc2bc1d877
Author: urmahp <mahp@universal-robots.com>
Date: Mon Aug 7 09:07:28 2023 +0200
Updated license
commit c88ce841e2b9f2894367befbf3f8f57f3fe527dc
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Thu Aug 3 22:29:43 2023 +0200
Add separate rounding in the conversion from float to int32
Identified that static cast can convert wrong when the float value is
around but not zero (1e-322) resulting in a large number
commit a61a823a6df4614f743ed794f9b8779ea8fba3bd
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Thu Aug 3 21:04:39 2023 +0200
Add more debug printout for splines
commit 2d7bfec5579cf67af0f98c42edc365dc356969e5
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Thu Aug 3 19:57:08 2023 +0200
Add Copying flight reports if CI fails
commit 65d83146a01d6baf5c91ed1ec202f33bb526d27b
Author: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Thu Aug 3 13:54:49 2023 +0200
Update ursim mininum version in start_ursim.sh
commit cf8c61d3446a4864cafd50052dd435e526cd2e5f
Author: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
Date: Mon Aug 7 11:16:20 2023 +0200
Fix the prerelease ci for Melodic (#163)
commit 692e274a54b470ce19f435c4ab19dd9335d79fb0
Author: Felix Exner <exner@fzi.de>
Date: Thu Jul 13 15:30:07 2023 +0200
1.3.2
commit 074a6a6bdfb7854b9c7ae5dd8f2fd3b6e9b1e95c
Author: Felix Exner <exner@fzi.de>
Date: Thu Jul 13 15:29:33 2023 +0200
Update changelog for upcoming release
commit 9a59e81189a41442e95e2f78bc6ce72e624a6864
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Thu Jul 13 11:45:12 2023 +0200
Add a cmake option to activate address sanitizers (#146)
* Add a cmake option to activate address sanitizers
* Fix unique_ptr type for comm buffer to array
We keep a pointer to the raw data buffer received from the comm interfaces
in our packages. This was held as a unique_ptr<uint8_t> while we were storing
a uint8_t type inside. This commit changes the pointer's type to the correct
one.
* Fix memory leak in tests
test_tcp_server had a memory leak by not deleting manually allocated clients.
commit a1e514ce6e2dddf64ef724ca012fc8252938de21
Author: Felix Exner (fexner) <exner@fzi.de>
Date: Wed Jul 12 13:54:01 2023 +0200
Install start ursim (#155)
* Install start_ursim.sh file
This way we can use it from the driver packages and don't have to duplicate code
* Fix execution bit
* Install external control URCap on URSim
* use catkin_install_python when available
* Do not ust catkin_install_python since it is not a python script...
commit 57c1a6a4bca78c36ac652b6d3bf43dd56fb38862
Author: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
Date: Mon Jul 3 23:11:33 2023 +0200
Spline merge (#151)
* Spline added to the forward trajectory controller
Thi…
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This commit updates the package maintainers as the project's governance has changed a bit.