Merge branch 'UniversalRobots:main' into fix-servo-planning-config

UniversalRobots · May 11, 2024 · 5c98fdd · 5c98fdd
2 parents 8d87857 + 585e29f
commit 5c98fdd
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diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml
@@ -51,3 +51,4 @@ jobs:
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests
diff --git a/ur/CHANGELOG.rst b/ur/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.4 (2024-04-04)
+------------------
+
 2.4.3 (2024-02-02)
 ------------------
 

diff --git a/ur/package.xml b/ur/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Robert Wilbrandt</maintainer>

diff --git a/ur_calibration/CHANGELOG.rst b/ur_calibration/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.4 (2024-04-04)
+------------------
+
 2.4.3 (2024-02-02)
 ------------------
 

diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

diff --git a/ur_controllers/CHANGELOG.rst b/ur_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.4 (2024-04-04)
+------------------
+
 2.4.3 (2024-02-02)
 ------------------
 

diff --git a/ur_controllers/package.xml b/ur_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_controllers</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/ur_dashboard_msgs/CHANGELOG.rst b/ur_dashboard_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.4 (2024-04-04)
+------------------
+
 2.4.3 (2024-02-02)
 ------------------
 

diff --git a/ur_dashboard_msgs/package.xml b/ur_dashboard_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_dashboard_msgs</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>Messages around the UR Dashboard server.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

diff --git a/ur_moveit_config/CHANGELOG.rst b/ur_moveit_config/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.4 (2024-04-04)
+------------------
+
 2.4.3 (2024-02-02)
 ------------------
 * fix move_group_node crash during initialization (`#906 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/906>`_)

diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -308,8 +308,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_package",
             default_value="ur_description",
-            description="Description package with robot URDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom description.",
+            description="Description package with robot URDF/XACRO files. Usually the argument "
+            "is not set, it enables use of a custom description.",
         )
     )
     declared_arguments.append(
@@ -323,8 +323,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "moveit_config_package",
             default_value="ur_moveit_config",
-            description="MoveIt config package with robot SRDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom moveit config.",
+            description="MoveIt config package with robot SRDF/XACRO files. Usually the argument "
+            "is not set, it enables use of a custom moveit config.",
         )
     )
     declared_arguments.append(
@@ -359,9 +359,9 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "prefix",
             default_value='""',
-            description="Prefix of the joint names, useful for \
-        multi-robot setup. If changed than also joint names in the controllers' configuration \
-        have to be updated.",
+            description="Prefix of the joint names, useful for "
+            "multi-robot setup. If changed than also joint names in the controllers' configuration "
+            "have to be updated.",
         )
     )
     declared_arguments.append(

diff --git a/ur_moveit_config/package.xml b/ur_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_moveit_config</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>
      An example package with MoveIt2 configurations for UR robots.
   </description>

diff --git a/ur_robot_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst
@@ -1,3 +1,11 @@
+2.4.4 (2024-04-04)
+------------------
+* Use ros2 control node from controller_manager and description topic (`#939 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/939>`_)
+* Move communication setup to on_configure instead of on_activate (`#732 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/732>`_)
+* [URDF] Fix initial value of speed scaling factor syntax (`#920 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/920>`_)
+* Reduce number of controller_spawners to 3 (`#919 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/919>`_)
+* Contributors: Felix Exner
+
 2.4.3 (2024-02-02)
 ------------------
 * Add UR30 support (`#899 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/899>`_)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
@@ -84,17 +84,6 @@ add_executable(dashboard_client
 target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl)
 ament_target_dependencies(dashboard_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-#
-# ur_ros2_control_node
-#
-add_executable(ur_ros2_control_node
-  src/ur_ros2_control_node.cpp
-)
-ament_target_dependencies(ur_ros2_control_node
-  controller_manager
-  rclcpp
-)
-
 #
 # controller_stopper_node
 #
@@ -110,7 +99,7 @@ add_executable(urscript_interface
 ament_target_dependencies(urscript_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 install(
-  TARGETS dashboard_client ur_ros2_control_node controller_stopper_node urscript_interface
+  TARGETS dashboard_client controller_stopper_node urscript_interface
   DESTINATION lib/${PROJECT_NAME}
 )
 

diff --git a/ur_robot_driver/doc/installation/installation.rst b/ur_robot_driver/doc/installation/installation.rst
@@ -46,12 +46,12 @@ building might fail occasionally.
      export COLCON_WS=~/workspace/ros_ur_driver
      mkdir -p $COLCON_WS/src
 
-5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
+5. Clone relevant packages (replace ``<branch>`` with ``humble``, ``iron`` or ``main`` for rolling), install dependencies, compile, and source the workspace by using:
 
    .. code-block:: bash
 
      cd $COLCON_WS
-     git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
+     git clone -b <branch> https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
      vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
      rosdep update
      rosdep install --ignore-src --from-paths src -y

diff --git a/ur_robot_driver/launch/ur10.launch.py b/ur_robot_driver/launch/ur10.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur10e.launch.py b/ur_robot_driver/launch/ur10e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur16e.launch.py b/ur_robot_driver/launch/ur16e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur20.launch.py b/ur_robot_driver/launch/ur20.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur3.launch.py b/ur_robot_driver/launch/ur3.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur30.launch.py b/ur_robot_driver/launch/ur30.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur3e.launch.py b/ur_robot_driver/launch/ur3e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur5.launch.py b/ur_robot_driver/launch/ur5.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(

diff --git a/ur_robot_driver/launch/ur5e.launch.py b/ur_robot_driver/launch/ur5e.launch.py
@@ -55,8 +55,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mock_sensor_commands",
             default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
         )
     )
     declared_arguments.append(