2.2.0

New Features

• Support optimove motions in InstructionExecutor by @urfeex in #354

Bugfixes

• Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 by @urfeex in #350

Other changes

• Join thread_move instead of killing it by @urfeex in #349
• Initialize ReverseInterface with a config struct by @urfeex in #351
• Remove SDK version mapping by @urfeex in #355
• Remove print statement when executing optimovel primitives by @urfeex in #365

Full Changelog: 2.1.0...2.2.0

2.1.0

New features

• Support PolyScopeX simulator for 10.8.0 by @urfeex in #315
• Added configuration data to packages parsed from the primary interface by @urmahp in #327
• Add new robot types to URSim startup script by @urfeex in #331
• Add ScriptReader for script template parsing by @urfeex in #343

Bugfixes

• Fix robot message type POPUP by @urfeex in #335
• Stop control, when UrDriver object is destroyed by @urmahp in #338
• Install endian.h and add that to the target include directories... by @urfeex in #345
• Minimal support for building on macOS by @acmorrow in #341

Documentation

• Update documentation by @urfeex in #309
• Add an API reference page to the docs by @urfeex in #314
• Fix the image sizes in architecture section by @urfeex in #321
• readme: load ROSin imgs from press_kit repository by @gavanderhoorn in #334

CI / Repo / package

• Update ROS distributions for industrial_ci by @urfeex in #317
• Check links using lychee by @urfeex in #319
• Correct message sum in test_tool_contact by @urmahp in #324
• Disable checking links for two broken ones by @urfeex in #333
• Fix driver branch for Jazzy downstream build by @urfeex in #339
• Add more tests for VersionInformation by @urfeex in #344

New Contributors

• @acmorrow made their first contribution in #341

Full Changelog: 2.0.0...2.1.0

2.0.0

This is a major release of the client library. That means that there are a couple of API-breaking changes in the library. See the migration notes for details. Most changes should not affect users.

Breaking changes

• Fix naming issues by @urfeex in #307
  • In the urcl::ExampleRobotWrapper class the ur_driver_, dashboard_client and
    primary_client members are now private. Use getUrDriver(), getDashboardClient() and
    getPrimaryClient() to access them.
  • In urcl::comm::ControlModeTypes two member functions have been renamed:
    • is_control_mode_realtime -> isControlModeRealtime
    • is_control_mode_non_realtime -> isControlModeNonRealtime
  • In urcl::RobotReceiveTimeout the timeout_ member is now private. Use
    getAsMilliseconds() to access it.
  • In urcl::UrDriverConfiguration two members have been renamed:
    • rtde_initialization_attempts_ -> rtde_initialization_attempts
    • rtde_initialization_timeout_ -> rtde_initialization_timeout
• #303 updated the communication protocol on the trajectory point interface. If you have been implementing a custom client for that protocol or you have a custom URScript implementing the protocol, please look at the updated documentation.

New features

• [start_ursim.sh] Always download and install the latest URCap(X) if not present by @urfeex in #301
• Add functionality to send MoveP and MoveC instructions to the robot by @urfeex in #303

Bugfixes

• [start_ursim.sh] Use direct web pages instead of GitHub API by @urfeex in #308

Documentation

• Document robot setup for PolyScope X by @urfeex in #302
• Fix typo in freedrive example document by @xndcn in #304

CI / repo / package

• Polyscope x integration tests by @urfeex in #295
• Bump bats-core/bats-action from 3.0.0 to 3.0.1 by @dependabot in #300
• Add more tests for start_ursim.sh by @urfeex in #305

New Contributors

• @xndcn made their first contribution in #304

Full Changelog: 1.9.0...2.0.0

1.9.0

New features

• Primary client power on by @urfeex in #289
• PrimaryClient: Add methods to unlock protective stop and stop the program by @urfeex in #292
• Make start_ursim.sh support polyscopex by @urfeex in #294

Bugfixes

• Do not print a warning when querying the dashboard server for a running program by @urfeex in #287
• add missing headers by @razr in #290
• Try catch RTDE setup by @domire8 in #285

CI / repo / package

• Set increased timeout in dashboard client test by @urfeex in #293
• Reduce usage of dashboard client in tests and examples by @urfeex in #296

New Contributors

• @razr made their first contribution in #290
• @domire8 made their first contribution in #285

Full Changelog: 1.8.0...1.9.0

1.8.0

New features

• instruction_executor: Allow canceling an instruction by @urfeex in #281
• Remove direct primary and secondary stream from UrDriver by @urfeex in #283

Bugfixes

• Fix buffer order of acceleration and velocity by @urfeex in #279

Documentation

--

CI / repo / package

• Build on Windows by @vdm-dev in #229
• instruction_executor: fix movel test by @urfeex in #280
• Add an explicit CMake option to turn on/off integration tests by @urfeex in #282
• Configure gcovr to ignore negative hits as errors by @urfeex in #284
• Remove unused variables by @urfeex in #288

New Contributors

• @vdm-dev made their first contribution in #229

Full Changelog: 1.7.1...1.8.0

1.7.1

Bugfixes

• In servo mode always allow targets close to current pose by @urfeex in #273
• Remove sending an idle command in quintic spline test by @urfeex in #275
• Fix trajectory result in trajectory forward mode when no trajectory is running by @urfeex in #276

Full Changelog: 1.7.0...1.7.1

1.7.0

New features

• Expose diagnostic error codes by @jessica-chen-ocado in #225
• Use ExampleRobotWrapper for initialization in all examples by @urfeex in #265
• Change UrDriver initialization to a config struct by @urfeex in #264
• Parametrize reconnection time for UrDriver by @urfeex in #266
• Use colored log output and timestamps in default log handler by @urfeex in #267

Bugfixes

• Use joint speed for extrapolation rather than differences by @urfeex in #254
• RTDEClient: pause and stop in destructor only if running by @urfeex in #257
• Fix DashboardClient load program from subdir by @urfeex in #269
• Improve limit check by @urfeex in #256
• UrDriver: Send program in headless mode after creating trajectory and script_command servers by @urfeex in #271

Documentation

• Add more information about acceleration/velocity parametrization in trajectory examples by @urfeex in #251
• Move setup instructions to ur_client_library by @urfeex in #248
• Update link to sphinx-doc.org using https by @urfeex in #247
• docs: Clarify that the motion functions use script functions for execution by @urfeex in #255
• Doc examples by @urfeex in #258
• Fix GH edit URL for trajectory_point_interface example by @urfeex in #259

CI / repo / package

• Allow clang-format to indent preprocessor directives by @urfeex in #246
• Urcap based tests by @urfeex in #252
• Add codecov/test-results-action by @urrsk in #260
• Fix branch name for integration tests run on push by @urfeex in #262
• Use coverage flags to distinguish between runs by @urfeex in #261
• Enable nightly CI jobs by @urfeex in #263
• Make UrDriver tests run without ctest by @urfeex in #270

New Contributors

• @jessica-chen-ocado made their first contribution in #225

Full Changelog: 1.6.0...1.7.0

1.6.0

New features

• Trajectory point velocities by @urfeex in #241
• Add instruction executor for high-level robot control by @urfeex in #242

Bugfixes

• Enable force mode compatibility with various move types by @urrsk in #230
• Do not throw exception in DashboardClient::sendRequest by @urfeex in #249

Documentation

• Updated documentation by @urfeex in #228
• Update links to dashboard server documentation by @urfeex in #243

CI / repo / package

• Add dependabot configuration to update actions by @urfeex in #231
• Bump actions/upload-artifact from 3 to 4 by @dependabot in #233
• Bump actions/setup-python from 4 to 5 by @dependabot in #235
• Bump actions/checkout from 1 to 4 by @dependabot in #232
• Bump pre-commit/action from 3.0.0 to 3.0.1 by @dependabot in #236
• Remove the not regarding MIT license by @urrsk in #237
• Bump codecov/codecov-action from 3 to 5 by @dependabot in #234
• Update package maintainers by @urfeex in #238
• Update ci by @urfeex in #239
• Modernize cmake by @urfeex in #244

New Contributors

• @dependabot made their first contribution in #233

Full Changelog: 1.5.0...1.6.0

1.5.0

What's Changed

New features

• Allow resetting the RTDE client by @fmauch in #218
• Add more arguments to start_ursim.sh by @fmauch in #220
• Giving force mode parameters as arguments when calling startForceMode by @URJala in #208
• Adapt RTDE output recipe based on robot response by @remi-siffert-ocado in #221

Bugfixes / Improvements

• Added missing RTDE data packages and fixed incorrect names by @remi-siffert-ocado in #213
• Add missing algorithm include by @fmauch in #214
• Added family photo to readme by @URJala in #219
• Tcp socket improvements by @remi-siffert-ocado in #222
• CI: Fix flaky example runs by @urfeex in #223

Full Changelog: 1.4.0...1.5.0

1.4.0

What's Changed

• [doc] Sphinx doc by @fmauch in #95
• [doc] Fix syntax in example.rst by @fmauch in #207
• [tests] Moved reset of speed slider to correct teardown function, so that it … by @URJala in #206
• Fix clang compilation error (#209) by @remi-siffert-ocado in #210
• Allow setting the analog output domain @fmauch in #211
• Added check to ensure that the targets are reachable within the robot… by @urmahp in #184

New Contributors

• @URJala made their first contribution in #206
• @remi-siffert-ocado made their first contribution in #210

Full Changelog: 1.3.7...1.4.0