CHANGELOG
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)
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)
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)
2.2.10 (2024-01-03)
2.2.9 (2023-09-22)
2.2.8 (2023-06-26)
2.2.7 (2023-06-02)
Adds full nonblocking readout support (Multiarm part 4) - v2 (#673) (#703)
Correct calibration correction launch file in doc (#590)
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)
Fix cmake dependency on controller_manager (backport #598) (#599)
Increase timeout for first test service call to driver (Backport of #605) (#607)
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)
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.xmlfilesSilence
ament_lint_cmakeerrorsUpdate packaging for ROS2
Update package.xml files so
ros2 pkg listshows all pkgsClean 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