Merge pull request #342 from fmauch/urcap_1.0.5

Use external_control urcap version 1.0.5

ur_robot_driver/doc/install_urcap_cb3.md

@@ -1,7 +1,7 @@
 # Installing a URCap on a CB3 robot
 
 For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver.
+**externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary.
 
@@ -15,7 +15,7 @@ screen.
 
 There, click the little plus sign at the bottom to open the file selector. There you should see
 all urcap files stored inside the robot's programs folder or a plugged USB drive.  Select and open
-the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the
+the **externalcontrol-1.0.5.urcap** file and click *open*. Your URCaps view should now show the
 **External Control** in the list of active URCaps and a notification to restart the robot. Do that
 now.
 

ur_robot_driver/doc/install_urcap_e_series.md

@@ -1,7 +1,7 @@
 # Installing a URCap on a e-Series robot
 
 For using the *ur_robot_driver* with a real robot you need to install the
-**externalcontrol-1.0.4.urcap** which can be found inside the **resources** folder of this driver.
+**externalcontrol-1.0.5.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary.
 
@@ -14,7 +14,7 @@ On the welcome screen click on the hamburger menu in the top-right corner and se
 
 There, click the little plus sign at the bottom to open the file selector. There you should see
 all urcap files stored inside the robot's programs folder or a plugged USB drive.  Select and open
-the **externalcontrol-1.0.4.urcap** file and click *open*. Your URCaps view should now show the
+the **externalcontrol-1.0.5.urcap** file and click *open*. Your URCaps view should now show the
 **External Control** in the list of active URCaps and a notification to restart the robot. Do that
 now.
 

ur_robot_driver/resources/ros_control.urscript

@@ -1,5 +1,7 @@
 {{BEGIN_REPLACE}}
 
+# HEADER_BEGIN
+
 steptime = get_steptime()
 
 textmsg("ExternalControl: steptime=", steptime)
@@ -93,6 +95,10 @@ thread speedThread():
   stopj(5.0)
 end
 
+# HEADER_END
+
+# NODE_CONTROL_LOOP_BEGINS
+
 socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
 
 control_mode = MODE_UNINITIALIZED
@@ -134,3 +140,5 @@ control_mode = MODE_STOPPED
 join thread_move
 textmsg("ExternalControl: All threads ended")
 socket_close("reverse_socket")
+
+# NODE_CONTROL_LOOP_ENDS