CHANGELOG

2.5.0 (2024-12-18)

  • Freedrive Controller (#1114) (#1211)

  • Add force mode controller (#1049) (#1193)

  • Update package maintainers (backport of #1203)

  • Forward trajectory controller (backport of #944)

  • Use pose_broadcaster to publish the TCP pose (backport of #1108)

  • Contributors: mergify[bot]

2.2.16 (2024-10-28)

  • Allow setting the analog output domain when setting an analog output (backport of #1123)

  • Fix component lifecycle (backport of #1098)

  • [moveit] Disable execution_duration_monitoring by default (#1133)

  • Service to get software version of robot (backport of #964)

  • Assure the description is loaded as string (backport of #1107)

  • Contributors: Felix Exner (fexner), mergify[bot], Jacob Larsen

2.2.15 (2024-07-26)

  • Fix passing launch_dashobard_client launch argument (backport of #1057)

  • Updated the UR family photo on the readme (backport of #1064)

  • Contributors: Rune Søoe-Knudsen, Felix Exner

2.2.14 (2024-07-01)

  • Add sleep between controller stopper’s controller queries (backport of #1038)

  • Contributors: Felix Exner

2.2.13 (2024-06-17)

  • Use robot_receive_timeout instead of keepalive_count (#1009)

  • Remove extra spaces from start_ursim statement in tests (backport of #1010)

  • Add calibration file to launch arguments (#1001)

  • Contributors: Vincenzo Di Pentima, Felix Exner

2.2.12 (2024-05-16)

  • Remove dependency to docker.io (backport #985)

  • Simplify tests (backport of #849)

  • Update installation instructions for source build (backport #967)

  • Move installation instructions to subpage (backport #870)

  • Reduce number of controller_spawners to 3 (#928)

  • Fix multi-line strings in DeclareLaunchArgument (backport #948)

  • “use_fake_hardware” for UR20 (#950)

  • Contributors: Vincenzo Di Pentima, Felix Exner, Robert Wilbrandt, Matthijs van der Burgh

2.2.11 (2024-04-08)

  • Add UR30 support (#930)

  • Move communication setup to on_configure instead of on_activate (#936)

  • Contributors: Felix Exner, Vincenzo Di Pentima

2.2.10 (2024-01-03)

  • Add backward_ros to driver (#872) (#878)

  • Port configuration (#835) (#847)

  • Update link to MoveIt! documentation (#845)

  • Contributors: mergify[bot]

2.2.9 (2023-09-22)

  • Added a test that sjtc correctly aborts on violation of constraints

  • Added support for UR20 (#805)

  • Introduced tf_prefix into log handler (#713)

  • Start ursim from lib (#733)

  • Run robot driver test also with tf_prefix (#729)

  • Urscript interface (#721) (#742)

  • Contributors: Felix Exner, Lennart Nachtigall, mergify[bot]

2.2.8 (2023-06-26)

  • Use tf prefix properly (backport #688) (#725)

  • Use SCHED_FIFO for controller_manager’s main thread (#719) (#722)

  • Contributors: mergify[bot]

2.2.7 (2023-06-02)

  • Calling on_deactivate in dtr (#679) (#704)

  • Adds full nonblocking readout support (Multiarm part 4) - v2 (#673) (#703)

  • Correct calibration correction launch file in doc (#590)

  • Introduce hand back control service (#528) (#670)

  • Update definition of test goals to new version. (backport #637) (#668)

  • Default path to ur_client_library urscript (#316) (#553) * Change default path for urscript for headless mode. * Replace urscript path also in newer ur_robot_driver launchfile

  • Wait longer for controllers to load and activate

  • Fix flaky tests (#641)

  • Added services to set tool voltage and zero force torque sensor (#466) (#582)

  • Controller spawner timeout (backport #608) (#609)

  • Fix cmake dependency on controller_manager (backport #598) (#599)

  • Increase timeout for first test service call to driver (Backport of #605) (#607)

  • Update linters & checkers (backport #426) (#556)

  • Clean up & improve execution tests (Backport of #512) (#552)

  • Contributors: Felix Exner (fexner), Lennart Nachtigall, Robert Wilbrandt, mergify[bot], Denis Stogl, livanov93, Mads Holm Peters

2.2.6 (2022-11-28)

  • Cleanup humble branch (#545)

  • Contributors: Felix Exner (fexner)

2.2.5 (2022-11-19)

  • ur_robot_driver: Controller_stopper fix deprecation warning

  • Fix tool voltage setup (#526) * Move BEGIN_REPLACE inside of header * Change default value of tool_voltage Keeping this at 0 requires users to explicitly set it to non-zero. This way we won’t accitentally destroy hardware that cannot handle 24V.

  • Added dependency to socat (#527) This is needed for the tool forwarding.

  • Add a note in the tool_comm doc about a URCap conflict (#524) * Add a note in the tool_comm doc about a URCap conflict * Update ur_robot_driver/doc/setup_tool_communication.rst Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com> * Fix formatting and one spelling mistake Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>

  • Contributors: Felix Exner, Felix Exner (fexner)

2.2.4 (2022-10-07)

  • Remove the custom ursim docker files (#478) This has been migrated inside the docs and is not needed anymore.

  • Remove duplicated update_rate parameter (#479)

  • Contributors: Felix Exner

2.2.3 (2022-07-27)

  • Adapt ros control api (#448) * scaled jtc: Use get_interface_name instead of get_name * Migrate from stopped controllers to inactive controllers stopped controllers has been depreated upstream

  • Contributors: Felix Exner

2.2.2 (2022-07-19)

  • Made sure all past maintainers are listed as authors (#429)

  • Silence a compilation warning (#425) Since setting the receive timeout takes the time_buffer as an argument this raises a “may be used uninitialized” warning. Setting this to 0 explicitly should prevent that.

  • Doc: Fix IP address in usage->ursim section (#422)

  • Contributors: Felix Exner

2.2.1 (2022-06-27)

  • Fixed controller name for force_torque_sensor_broadcaster (#411)

  • Contributors: Felix Exner

2.2.0 (2022-06-20)

  • Updated package maintainers

  • Rework bringup (#403)

  • Prepare for humble (#394)

  • Update dependencies on all packages (#391)

  • Update HW-interface API for humble. (#377)

  • Use types in hardware interface from ros2_control in local namespace (#339)

  • Update header extension to remove compile warning. (#285)

  • Add resource files from ROS World. (#226)

  • Add sphinx documentation (#340)

  • Update license to BSD-3-Clause (#277)

  • Update ROS_INTERFACE.md to current driver (#335)

  • Fix hardware interface names in error output (#329)

  • Added controller stopper node (#309)

  • Correct link to calibration extraction (#310)

  • Start the tool communication script if the flag is set (#267)

  • Change driver constructor and change calibration check (#282)

  • Use GPIO tag from URDF in driver. (#224)

  • Separate control node (#281)

  • Add missing dependency on angles and update formatting for linters. (#283)

  • Do not print an error output if writing is not possible (#266)

  • Update features.md (#250)

  • Tool communication (#218)

  • Payload service (#238)

  • Import transformation of force-torque into tcp frame from ROS1 driver (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/hardware_interface.cpp). (#237)

  • Make reading and writing work when hardware is disconnected (#233)

  • Add missing command and state interfaces to get everything working with the fake hardware and add some comment into xacro file to be clearer. (#221)

  • Decrease the rate of async tasks. (#223)

  • Change robot type. (#220)

  • Driver to headless. (#217)

  • Test execution tests (#216)

  • Integration tests improvement (#206)

  • Set start modes to empty. Avoid position ctrl loop on start. (#211)

  • Add resend program service and enable headless mode (#198)

  • Implement “choices” for robot_type param (#204)

  • Calibration extraction package (#186)

  • Add breaking api changes from ros2_control to hardware_interface (#189)

  • Fix prepare and perform switch operation (#191)

  • Update CI configuration to support galactic and rolling (#142)

  • Dockerize ursim with driver in docker compose (#144)

  • Enabling velocity mode (#146)

  • Moved registering publisher and service to on_active (#151)

  • Converted io_test and switch_on_test to ROS2 (#124)

  • Added loghandler to handle log messages from the Client Library with … (#126)

  • Removed dashboard client from hardware interface

  • [WIP] Updated feature list (#102)

  • Moved Async check out of script running check (#112)

  • Fix gpio controller (#103)

  • Fixed speed slider service call (#100)

  • Adding missing backslash and only setting workdir once (#108)

  • Added dockerfile for the driver (#105)

  • Using official Universal Robot Client Library (#101)

  • Reintegrating missing ur_client_library dependency since the break the building process (#97)

  • Fix readme hardware setup (#91)

  • Fix move to home bug (#92)

  • Using modern python

  • Some intermediate commit

  • Remove obsolete and unused files and packages. (#80)

  • Review CI by correcting the configurations (#71)

  • Add support for gpios, update MoveIt and ros2_control launching (#66)

  • Quickfix against move home bug

  • Added missing initialization

  • Use GitHub Actions, use pre-commit formatting (#56)

  • Put dashboard services into corresponding namespace

  • Start dashboard client from within the hardware interface

  • Added try catch blocks for service calls

  • Removed repeated declaration of timeout parameter which lead to connection crash

  • Removed static service name in which all auto generated services where mapped

  • Removed unused variable

  • Fixed clang-format issue

  • Removed all robot status stuff

  • Exchanged hardcoded value for RobotState msgs enum

  • Removed currently unused controller state variables

  • Added placeholder for industrial_robot_status_interface

  • Fixed clang issues

  • Added checks for internal robot state machine

  • Only load speed scaling interface

  • Changed state interface to combined speed scaling factor

  • Added missing formatting in hardware interface

  • Initial version of the speed_scaling_state_controller

  • Fix clang tidy in multiple pkgs.

  • Clang tidy fix.

  • Update force torque state controller.

  • Prepare for testing.

  • Fix decision breaker for position control. Make decision effect instantaneous.

  • Use only position interface.

  • Update hardware interface for ROS2 (#8)

  • Update the dashboard client for ROS2 (#5)

  • Hardware interface framework (#3)

  • Add XML schema to all package.xml files

  • Silence ament_lint_cmake errors

  • Update packaging for ROS2

  • Update package.xml files so ros2 pkg list shows all pkgs

  • Clean out ur_robot_driver for initial ROS2 compilation

  • Compile ur_dashboard_msgs for ROS2

  • Delete all launch/config files with no UR5 relation

  • Initial work toward compiling ur_robot_driver

  • Update CMakeLists and package.xml for: - ur5_moveit_config - ur_bringup - ur_description

  • Change pkg versions to 0.0.0

  • Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Lovro, Mads Holm Peters, Marvin Große Besselmann, Rune Søe-Knudsen, livanov93, Robert Wilbrandt

0.0.3 (2019-08-09)

  • Added a service to end ROS control from ROS side

  • Publish IO state on ROS topics

  • Added write channel through RTDE with speed slider and IO services

  • Added subscriber to send arbitrary URScript commands to the robot

0.0.2 (2019-07-03)

  • Fixed dependencies and installation

  • Updated README

  • Fixed passing parameters through launch files

  • Added support for correctly switching controllers during runtime and using the standard joint_trajectory_controller

  • Updated externalcontrol URCap to version 1.0.2 + Fixed Script timeout when running the URCap inside of a looping tree + Fixed a couple of typos

  • Increased minimal required UR software version to 3.7/5.1

0.0.1 (2019-06-28)

Initial release