CHANGELOG

Changelog for package ur_client_library

1.7.0 (2025-02-19)

  • Make UrDriver tests run without ctest (#270)

  • UrDriver: Send program in headless mode after creating trajectory and script_command servers (#271)

  • Improve limit check (#256)

  • Use colored log output and timestamps in default log handler (#267)

  • Parametrize reconnection time for UrDriver (#266) Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>

  • Fix DashboardClient load program from subdir (#269)

  • Increase dashboard timeout in ExampleRobotWrapper to 10s

  • Disable internal deprecation warning

  • Use a config struct for initializing UrDriver (#264)

  • Use ExampleRobotWrapper for initialization in all examples (#265)

  • Enable nightly CI jobs (#263)

  • Expose diagnostic error codes (#225)

  • RTDEClient: pause and stop in destructor only if running (#257)

  • Use coverage flags to distinguish between runs (#261)

  • Fix branch name for integration tests run on push (#262)

  • Add codecov/test-results-action (#260)

  • Fix GH edit URL for trajectory_point_interface example (#259)

  • Update URL check

  • Show which example is running in run_examples.sh

  • Add documentation for all examples (#258)

  • Update RT setup documentation to point to urcl docs

  • Use EXPECT_NEAR vs EXPECT_EQ

  • Fix typo in start_ursim.sh help

  • Make CI capable to run with urcap

  • Use ExampleRobotWrapper in integration tests (#252)

  • Add a wrapper to handle all robot setup (#252)

  • Allow clang-format to indent preprocessor directives (#246)

  • docs: Clarify that the motion functions use script functions for execution (#255)

  • Update link to sphinx-doc.org using https (#247)

  • Use joint speed for extrapolation rather than differences (#254)

  • Move setup instructions to ur_client_library (#248)

  • Add more information about acceleration/velocity parametrization in trajectory examples (#251)

  • Contributors: Felix Exner, Rune Søe-Knudsen, jessica-chen-ocado, Dominic Reber

1.6.0 (2025-01-23)

  • Do not throw exception in DashboardClient::sendRequest (#249)

  • Add instruction executor for high-level robot control (#242)

  • Modernize cmake (#244)

  • Update links to dashboard server documentation (#243)

  • Trajectory point velocities and example (#241)

  • Updated documentation (#228)

  • Update ci (#239)

  • Enable force mode compatibility with various move types (#230)

  • Update package maintainers (#238)

  • Bump codecov/codecov-action from 3 to 5 (#234)

  • Remove the not regarding MIT license (#237)

  • Bump pre-commit/action from 3.0.0 to 3.0.1 (#236)

  • Bump actions/checkout from 1 to 4 (#232)

  • Bump actions/setup-python from 4 to 5 (#235)

  • Bump actions/upload-artifact from 3 to 4 (#233)

  • Add dependabot configuration to update actions (#231)

  • Contributors: Felix Exner, Rune Søe-Knudsen, dependabot[bot]

1.5.0 (2024-11-25)

  • Adapt RTDE output recipe based on robot response (#221)

  • CI: Fix flaky example runs (#223)

  • Giving force mode parameters as arguments when calling startForceMode (#208)

  • Add more arguments to start_ursim.sh (#220)

  • Tcp socket improvements (#222)

  • Added family photo to readme (#219)

  • Add missing algorithm include (#214)

  • Added missing RTDE data packages and fixed incorrect names (#213)

  • Contributors: Felix Exner, Remi Siffert, URJala

1.4.0 (2024-09-10)

  • Ensure that the targets are reachable within the robots limits (#184)

  • Analog domain (#211)

  • Fix clang compilation error (#210)

  • Moved reset of speed slider to correct teardown function, so that it … (#206) …resets between each test.

  • [doc] Fix syntax in example.rst (#207)

  • [doc] Migrate documentation to sphinx (#95)

  • Contributors: Felix Exner, Mads Holm Peters, Remi Siffert, URJala

1.3.7 (2024-06-03)

  • [ci] Update CI * Run downstream tests for ICI * Correctly name jobs * Test Jazzy driver

  • [start_ursim] Add program directory at correct location also when no model is provided

  • [start_ursim] Always check ursim version for compatibility

  • [start_ursim] Use a program folder per model

  • [ci] Update distros for prerelease test

  • Contributors: Felix Exner, Vincenzo Di Pentima

1.3.6 (2024-04-04)

  • Changed spline interpolation to use the last commanded joint velocity… (#195)

  • Contributors: Mads Holm Peters, Rune Søe-Knudsen

1.3.5 (2024-02-23)

  • Add support for UR30 in start_ursim.sh (#193)

  • Add header guard to datatypes.h (#189)

  • Remove duplicated entry in clang-format file (#188)

  • Wait after docker kill to prevent name conflicts (#187)

  • Contributors: Felix Exner, Robert Wilbrandt

1.3.4 (2023-09-22)

  • Make depreaction warning for keepalive_counter a warning instead of error (#182)

  • Added watchdog configuration for the reverse socket (#178)

  • Add support for ur20 in start_ursim script (#179)

  • Use pre-commit for clang-format (#175)

  • Make tcp_server retry binding the socket (#176)

  • Contributors: Felix Exner, Mads Holm Peters

1.3.3 (2023-09-05)

  • Add support for setting socket max num tries and reconnect timeout (#172)

  • Unify socket open (#174)

  • Added handling of spline interpolation with end point velocities (#169)

  • Throws exception if the URScript file doesn’t exists (#173)

  • Added check to ensure receive timeout isn’t overwritten (#171)

  • Added RTDEClient constructor with vector recipes (#143)

  • Only warn if system is not setup for FIFO scheduling (#170)

  • Ensuring that the Timestamp is always in the output recipe (#168)

  • CI: Add Iron to CI tests (#167)

  • Add issue templates for bugs and features (#166)

  • Updated license (#164)

  • Bugfixes for spline interpolation (#162)
    • Add separate rounding in the conversion from float to int32

    • Add more debug printout for splines

    • Add Copying flight reports if CI fails

    • Update ursim mininum version in start_ursim.sh

  • Fix the prerelease ci for Melodic (#163)

  • Contributors: Dag-Are Trydal, Felix Exner, Felix Exner (fexner), Mads Holm Peters, Michael Eriksen, RobertWilbrandt, Rune Søe-Knudsen, urmahp, urrsk

1.3.2 (2023-07-13)

  • Add a cmake option to activate address sanitizers (#146)

  • Install start ursim (#155)

  • Add spline interpolation on robot (#151)

  • Add codecov.yml to exclude test and examples folders (#152)

  • Make URSim log files available as artifacts also for the CI-industrial (#153)

  • Remove Foxy from CI

  • Add a script to run the examples instead of run-parts

  • Add SaveLog command to the Dashboard client

  • Make URSim log files available as artifacts

  • Specifically set RTDE pipeline producer to FIFO scheduling (#139)

  • Added support for force_mode, freedrive and tool contact (#138)

  • Docs: Update link to ros_industrial_cmake_boilerplate

  • Added tests for the comm classes (#129)

  • Changed num_retries from static to an unsigned int (#136)

  • Build downstream humble version from humble branch (#132)

  • Contributors: Felix Exner, Mads Holm Peters, Rune Søe-Knudsen, Robert Wilbrandt

1.3.1 (2022-11-30)

  • CI: Add a prerelease check that calls bloom-generate (#134)

  • Contributors: Felix Exner

1.3.0 (2022-11-28)

  • Dashboard commands, Docker Image and CI step for running the examples #127

  • Added tests for the rtde interface clasess (#125)

  • Fix unique_ptr type (#124)

  • Fix ‘BEGIN_REPLACE’ - used in tool_communication (copy #101) (#120) (cherry picked from commit f7ce9f73181848f3957c660647fac0e5325862b9) Co-authored-by: rxjia <60809735+rxjia@users.noreply.github.com>

  • Contributors: Felix Exner, Mads Holm Peters, RobertWilbrandt, Rune Søe-Knudsen, mergify[bot], urmarp, urrsk

1.2.0 (2022-10-04)

  • Initialized receive timeout and changed exception to warning (#118)

  • Added tests for the control interface classes (#112)

  • Added note about Polyscope version requirement

  • Added tcp_offset

  • Added interface for forwarding script commands to the robot, that is … (#111)

  • Fixed parsing of incomming packages when using rtde protocol v1 (#114) The received rtde packages should be parsed slightly different whether we use protocol v1 or v2.

  • Add codecov step (#116)

  • Added humble build

  • Fixed downstream test instructions

  • Update atomicops.h (#117) Fix the url in the comment regarding POSIX semaphores to fix error in the CI

  • Make the read during boot depend on the frequency of the robot controller (#102)

  • Ignore debian folder in check_links (#100) Otherwise this job raises an error in the release repository.

  • Contributors: Felix Exner, Mads Holm Peters, Rune Søe-Knudsen, urmahp, urmarp

1.1.0 (2022-04-22)

  • Support starting the driver, before the robot is booted (#98)

  • Clear the queue when consumer reads from it (#96)

  • Fix build with newer glibc

  • Doxygen check (#77)

  • Added target_frequency to RTDEClient (#85)

  • Removed console_bridge dependency (#74)

  • Added “On behalf of Universal Robots A/S” notice (#81) to all files that have been created by FZI

  • Always install package.xml file (#78)

  • register package with ament index

  • Corrected smaller doxygen errors

  • Added rosdoc_lite check

  • Contributors: Cory Crean, Felix Exner, Jørn Bersvendsen, Mads Holm Peters, Martin Jansa, Stefan Scherzinger

1.0.0 (2021-06-18)

  • Added Cartesian streaming interface #75

  • Added trajectory forwarding interface #72

  • Refactored Reverse interface #70 from fmauch/refactor_reverse_interface

  • Added option for robot_ip as runtime argument for rtde_test (#71)

  • Added reverse_ip parameter (#52)

  • Move calibration check out of constructor. #65 from fmauch/calibration_check_optional

  • Install the resources folder instead of the script file directly (#62)

  • Use a non-blocking tcp server for the ReverseInterface and ScriptSender. #46 from fmauch/tcp_server

  • Added LogHandler #40 from urmahp/logging_feature

  • Fixed links in README (#35)

  • Contributors: Felix Exner, G.A. vd. Hoorn, JS00000, Lennart Puck, Mads Holm Peters, Tristan Schnell

0.1.1 (2020-09-15)

  • readme: missing whitespace

  • Further elaborated license statements in README

  • Install package.xml when built with catkin support

  • Contributors: Felix Exner, G.A. vd. Hoorn

0.1.0 (2020-09-11)

  • initial standalone release