CHANGELOG
3.0.0 (2024-12-18)
Freedrive Controller (#1114)
Fix running force_mode controller alongside passthrough trajectory controller (#1210)
Update package maintainers (#1203)
Add force mode controller (#1049)
Add trajectory passthrough controller (#944)
Use pose_broadcaster to publish the TCP pose (#1108)
Contributors: Felix Exner, URJala, Vincenzo Di Pentima
2.4.13 (2024-10-28)
2.4.12 (2024-10-14)
2.4.11 (2024-10-10)
Add note about TEM (#1136)
Allow setting the analog output domain when setting an analog IO (#1123)
Service to get software version of robot (#964)
Add passthrough interfaces for joints (#1121)
Fix for Controller Switching Issue and Refactor Controller Spawning (#1093)
Improve usage documentation (#1110)
Assure the description is loaded as string (#1106)
Contributors: Chen Chen, Felix Exner (fexner), URJala
2.4.10 (2024-09-11)
2.4.9 (2024-08-09)
Added dynamics tag when using mock_components/GenericSystem (#1075)
Updated the UR family photo on the readme (#1064)
Fix passing launch_dashboard_client launch argument (#1057)
[doc] Add more documentation regarding usage (#1055)
Add doc to custom URScript commands that it needs to be in headless mode (#1051)
Update reference to ros2_controllers test node (#1054)
[doc] Update required polyscope version (#1052)
Add migration notes for jazzy (#1045)
Contributors: Felix Exner (fexner), Rune Søe-Knudsen
2.4.8 (2024-07-01)
Add sleep between controller stopper’s controller queries (#1038)
Contributors: Felix Exner (fexner)
2.4.7 (2024-06-19)
Fix launching without a tf_prefix specified (#1029)
Contributors: Felix Exner (fexner)
2.4.6 (2024-06-17)
Remove tf_prefix from ur_control.launch.py (#1020)
Make moveit_config compatible to moveit_configs_builder (#998)
Remove extra spaces from start_ursim statement in tests (#1010)
Replace keepalive count (#1002)
Restructure documentation for full stack documentation (#984)
Contributors: Felix Exner, Ruddick Lawrence, Vincenzo Di Pentima
2.4.5 (2024-05-16)
Remove dependency to docker.io (#985)
Move starting the robot_state_publisher to an own launch file (#977) Co-authored-by: Vincenzo Di Pentima <DiPentima@fzi.de>
Update installation instructions for source build (#967)
Fix multi-line strings in DeclareLaunchArgument (#948)
Contributors: Christoph Fröhlich, Felix Exner (fexner), Matthijs van der Burgh
2.4.4 (2024-04-04)
2.4.3 (2024-02-02)
2.4.2 (2023-11-23)
[README] Move installation instructions to subpage (#870)
Add backward_ros to driver (#872)
Simplify tests (#849)
Port configuration (#835) Added possibility to change the reverse_port, script_sender_port and trajectory_port
[README] Update link to MoveIt! documentation
Do not start urscipt_interface when using mock hardware
Contributors: Felix Durchdewald, Felix Exner, RobertWilbrandt
2.4.1 (2023-09-21)
2.4.0 (2023-08-28)
Start ursim from lib (#733) * Forward start_ursim.sh to the one from the client library * Update docs and tests to start ursim from the ur_client_library script
Update velocity-control on feature list (#573) ros2_controllers jtc does support velocity control by now, so we should not state it doesn’t.
Introduced tf_prefix into log handler (#713) * Introduced tf_prefix into log handler * added default argument to prefix ——— Co-authored-by: Lennart Nachtigall <firesurfer@firesurfer.de> Co-authored-by: Felix Exner <exner@fzi.de> Co-authored-by: Lennart Nachtigall <lennart.nachtigall@sci-mo.de>
Run robot driver test also with tf_prefix (#729) * Run robot driver test also with tf_prefix * Use tf_prefix substitution in controllers config file * Set default value of tf_prefix in launchfile to empty instead of ‘””’ ——— Co-authored-by: Robert Wilbrandt <wilbrandt@fzi.de>
Use mock_hardware and mock_sensor_commands instead of fake (#739) * Use mock_hardware and mock_sensor_commands instead of fake This has been deprecated a while back and was never adapted. * Update documentation to mock_hardware
Urscript interface (#721) * Add a urscript interface node * Add urscript_interface to standard launchfile * Added documentation for urscript_interface * Add a notice about incorrect script code * Add test for urscript interface * Move tests to one single tests This should avoid that different tests run in parallel * Wait for IO controller before checking IOs * Write an initial textmessage when connecting the urscript_interface * Wait for controller_manager services longer * Make sure we have a clean robot state without any program running once we enter our test similar to how we did it on the robot_driver test * Remove unneeded Destructor definition
Use SCHED_FIFO for controller_manager’s main thread (#719) Previous investigations showed that using FIFO scheduling helps keeping cycle times also non non-RT kernels. This combined with non-blocking read can result in a very stable system. This is, in fact, very close to what the actual controller_manager_node does except that we always use FIFO scheduling independent of the actual kernel in use.
Contributors: Felix Exner (fexner), Lennart Nachtigall
2.3.2 (2023-06-02)
Adds full nonblocking readout support (Multiarm part 4) - v2 (#673)
Removed workaround also in export_command_interfaces (#692)
Calling on_deactivate in dtr (#679)
Fixed formatting (#685)
Remove tf_prefix workaround in hw interface
Ported controllers to generate_parameters library and added prefix for controllers (Multiarm part 2) (#594)
Remove ur_bringup package (#666)
Introduce hand back control service (#528)
Apply suggestions from code review
Update definition of test goals to new version.
Wait longer for controllers to load and activate
Fix flaky tests (#641) * Move robot startup into test’s setUp function * Robustify robot startup
This commits adds additional configuration parameters needed for multiarm support.
Add timeout to execution test
Improve logging for robot execution tests
Contributors: Denis Štogl, Dr. Denis, Felix Exner, Felix Exner (fexner), Lennart Nachtigall, Robert Wilbrandt, livanov93
2.3.1 (2023-03-16)
Adjust controller switching to message change
Controller spawner timeout (#608) * Simplify controller spawner definitions * Ignore flake8 W503 as it clashes with black and goes against PEP8 style * Add argument to set controller spawner timeout * Use longer controller manager timeout in CI The default timeout of 10s is the same as our RTDE retry timeout, which means if RTDE does not immediately connect (which happens regularly in CI runners) controller spawning would fail.
Increase timeout for first test service call to driver (#605)
Contributors: Robert Wilbrandt, RobertWilbrandt
2.3.0 (2023-03-02)
Fix cmake dependency on controller_manager
Correct calibration correction launch file in doc
Added services to set tool voltage and zero force torque sensor (#466) Added launch arguments for reverse ip and script command interface port.
Fix comment in test file
Default path to ur_client_library urscript (#316) * Change default path for urscript for headless mode. * Replace urscript path also in newer ur_robot_driver launchfile * Remove ros_control.urscript Co-authored-by: Felix Exner <exner@fzi.de>
Clean up & improve execution tests (#512) * Clean up execution test files * Start ursim as part of the execution tests * Dont use custom dockerursim for humble and rolling execution tests * Clean up test implementations * pep257 fixes * Perform rolling and humble execution tests as part of normal pipelines * Increase admissible timeouts as the CI needs to pull ursim first * Add more debug messages during tests * Wait until robot is in POWER_OFF mode before trying to power it on * Fix error introduced in last commit * Add additional cmake option to enable integration tests * Increase timeout for robot tests * Add CMake comment describing the execution test integration * Run source tests on pull request This is only here for testing the test setup! Remove before merging * call resend_robot_program twice This seems to be necessary, as otherwise the robot hangs after bootup. The first program execution (that gets automatically started at driver startup because of the headless_mode) gets paused, since it is sent while the robotis not yet switched on. To mitigate this, we send the robot program again after switching on the robot, but this seems to stop the robot program. Sending it again seems to set it correctly to a started state. * Increase timeouts for dashboard_client tests Otherwise they can fail, since in parallel we pull and start the docker container. Co-authored-by: Felix Exner <exner@fzi.de>
Update and thin down README (#494) Avoid duplication between README and package doc. * Updated documentation about fake_hardware and MoveIt! * Remove trailing WS * [documentation] do not suggest -r for rosdep install * Added note about tool0_controller to docs. * Add additional part about calibration to toplevel README. * Added note about sourcing ROS in build instructions
ur_robot_driver: Controller_stopper fix deprecation warning Use
activate_controllersinstead ofstart_controllers.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), Mads Holm Peters, Robert Wilbrandt, RobertWilbrandt, livanov93
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 deprecated 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