CHANGELOG
Changelog for package ur_client_library
2.5.0 (2025-10-24)
Polyscopex dashboard client (#392)
Use enable_external_ft_sensor on old software versions (#395)
Rtde external ft (#388)
Fixed auto reconnection to the RTDE server. (#384)
Refactor Rtde client test (#389)
Add release.yml for auto-generated changelogs (#391)
Allow an empty input recipe to the RTDE client (#318)
Contributors: Felix Exner, Mads Holm Peters, URJala
2.4.0 (2025-10-13)
UR18 support (#387)
Remove output_bit_register_0…63 and input_bit_register_0..63 from RTDE list (#385)
Set force mode parameters from config (#383)
Direct torque control (#381)
Update RTDE list to include new fields (#380)
Add const qualifier to get functions and changed map value retrieval to at() function (#379)
Contributors: Dominic Reber, Felix Exner, Pablo David Aranda Rodriguez, URJala
2.3.0 (2025-09-15)
Install endian header on Windows and Apple only (#372)
Add support for UR8 LONG (#375)
Change ubuntu manpage link from bionic to noble (#374)
Bump actions/setup-python from 5 to 6 (#373)
Add possibility to register multiple callbacks to ReverseInterface and TrajectoryPointInterface (#359)
Contributors: Felix Exner, dependabot[bot]
2.2.0 (2025-07-21)
Remove print statement when executing optimovel primitives (#365)
Remove SDK version mapping (#355)
Support optimove motions in InstructionExecutor (#354)
Initialize ReverseInterface with a config struct (#351)
Join thread_move instead of killing it (#349)
Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 (#350)
Contributors: Felix Exner
2.1.0 (2025-06-18)
Minimal support for building on macOS (#341)
Install endian.h and add that to the target include directories on Windows and MacOS (#345)
Add ScriptReader for script template parsing (#343)
Add more tests for VersionInformation (#344)
Fix driver branch for Jazzy downstream build (#339)
Stop control, when UrDriver object is destroyed (#338)
Add new robot types to URSim startup script (#331)
Fix robot message type POPUP (#335)
Disable checking links for two broken ones (#333)
readme: load ROSin imgs from press_kit repository (#334)
Added configuration data to packages parsed from the primary interface (#327)
Correct message sum in test_tool_contact (#324)
Fix the image sizes in architecture section (#321)
Check links using lychee (#319)
Update ROS distributions for industrial_ci (#317)
Support PolyScopeX simulator for 10.8.0 (#315)
Add an API reference page to the docs (#314)
Update documentation (#309)
Contributors: Andrew C. Morrow, Felix Exner, G.A. vd. Hoorn, Mads Holm Peters
2.0.0 (2025-04-16)
Add functionality to send MoveP and MoveC instructions to the robot (#303)
Fix naming issues (#307)
Add more tests for start_ursim.sh (#305)
[start_ursim.sh] Use direct web pages instead of GitHub API to download URCap (#308)
Fix typo in freedrive example document (#304)
Always download and install the latest URCap(X) if not present (#301)
Document robot setup for PolyScope X (#302)
Bump bats-core/bats-action from 3.0.0 to 3.0.1 (#300)
Polyscope x integration tests (#295)
Contributors: Felix Exner, dependabot[bot], xndcn
1.9.0 (2025-03-28)
Make start_ursim.sh support polyscopex (#294)
Reduce usage of dashboard client in tests and examples (#296)
Try catch RTDE setup (#285)
add missing headers (#290)
PrimaryClient: Add methods to unlock protective stop and stop the program (#292)
Set increased timeout in dashboard client test (#293)
Do not print a warning when querying the dashboard server for a running program (#287)
Primary client power on (#289)
Contributors: Andrei Kholodnyi, Dominic Reber, Felix Exner
1.8.0 (2025-03-17)
Remove unused variables (#288)
Remove direct primary and secondary stream from UrDriver (#283)
Configure gcovr to ignore negative hits as errors (#284)
Add an explicit CMake option to turn on/off integration tests (#282)
instruction_executor: Allow canceling an instruction (#281)
instruction_executor: fix movel test (#280)
Fix buffer order of acceleration and velocity (#279)
Support compilation on Windows (#229)
Contributors: Felix Exner, VDm
1.7.1 (2025-02-25)
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)
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