2.6.0 (2025-03-17) ------------------ * Update transformForceTorque to handle whether it is a cb3 or an e-Series robot (backport of `#1287 `_) (`#1299 `_) * Port robot_state_helper to ROS2 (backport of `#933 `_) (`#1286 `_) * Fix crashes on shutting down (`#1270 `_) (`#1271 `_) * Remove build warnings for Humble (`#1234 `_) * Auto-update pre-commit hooks (backport `#1260 `_) (`#1261 `_) * Fix doc links (`#1247 `_) * Remove urdf folder (`#1257 `_) * Contributors: Felix Exner, mergify[bot] 2.5.2 (2025-01-21) ------------------ * Check quaternions for equal dot_product instead of comparing their components individually (backport `#1238 `_) (`#1243 `_) * fix sphinx doc link in ur_robot_driver (`#1240 `_) (`#1242 `_) * Update pre-commit the same as on the main branch (`#1232 `_) * Disable pose broadcaster on mock hardware (backport of `#1229 `_) (`#1230 `_) * Remove unused include (backport of `#1220 `_) Co-authored-by: Bence Magyar * Contributors: Felix Exner, mergify[bot] 2.5.1 (2024-12-21) ------------------ 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 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.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