Added missing RTDE data packages and fixed incorrect names (Universal…

…Robots#213)

Updated the list of RTDE data packages for consistency with
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/.

Also added tests for all possible RTDE fields matching their software versions.

.github/workflows/ci.yml

@@ -21,6 +21,12 @@ jobs:
             ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+          - DOCKER_RUN_OPTS: --network ursim_net
+            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+            CTEST_OUTPUT_ON_FAILURE: 1
+            ROBOT_MODEL: 'ur20'
+            URSIM_VERSION: 'latest'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
     steps:
       - uses: actions/checkout@v1

src/rtde/data_package.cpp

@@ -42,9 +42,8 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "target_moment", vector6d_t() },
   { "actual_q", vector6d_t() },
   { "actual_qd", vector6d_t() },
-  { "actual_qdd", vector6d_t() },
   { "actual_current", vector6d_t() },
-  { "actual_moment", vector6d_t() },
+  { "actual_current_window", vector6d_t() },
   { "joint_control_output", vector6d_t() },
   { "actual_TCP_pose", vector6d_t() },
   { "actual_TCP_speed", vector6d_t() },
@@ -57,6 +56,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "robot_mode", int32_t() },
   { "joint_mode", vector6int32_t() },
   { "safety_mode", int32_t() },
+  { "safety_status", int32_t() },
   { "actual_tool_accelerometer", vector3d_t() },
   { "speed_scaling", double() },
   { "target_speed_fraction", double() },
@@ -88,7 +88,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "tool_output_voltage", int32_t() },
   { "tool_output_current", double() },
   { "tool_temperature", double() },
-  { "tool_force_scalar", double() },
+  { "tcp_force_scalar", double() },
   { "output_bit_registers0_to_31", uint32_t() },
   { "output_bit_registers32_to_63", uint32_t() },
   { "output_bit_register_0", bool() },
@@ -548,7 +548,18 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "configurable_digital_output_mask", uint8_t() },
   { "configurable_digital_output", uint8_t() },
   { "tool_digital_output_mask", uint8_t() },
+  { "tool_output_mode", uint8_t() },
+  { "tool_digital_output0_mode", uint8_t() },
+  { "tool_digital_output1_mode", uint8_t() },
   { "tool_digital_output", uint8_t() },
+  { "payload", double() },
+  { "payload_cog", vector3d_t() },
+  { "payload_inertia", vector6d_t() },
+  { "script_control_line", uint32_t() },
+  { "ft_raw_wrench", vector6d_t() },
+  { "joint_position_deviation_ratio", double() },
+  { "collision_detection_ratio", double() },
+  { "time_scale_source", int32_t() },
   { "standard_analog_output_mask", uint8_t() },
   { "standard_analog_output_type", uint8_t() },
   { "standard_analog_output_0", double() },

src/rtde/rtde_client.cpp

@@ -254,7 +254,7 @@ void RTDEClient::setupOutputs(const uint16_t protocol_version)
   unsigned int num_retries = 0;
   size_t size;
   size_t written;
-  uint8_t buffer[4096];
+  uint8_t buffer[8192];
   URCL_LOG_INFO("Setting up RTDE communication with frequency %f", target_frequency_);
   if (protocol_version == 2)
   {