Merge branch 'main' into get_version

UniversalRobots · Apr 11, 2024 · 1f4c778 · 1f4c778
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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/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/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -242,24 +242,10 @@ def launch_setup(context, *args, **kwargs):
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[
-            robot_description,
             update_rate_config_file,
             ParameterFile(initial_joint_controllers, allow_substs=True),
         ],
         output="screen",
-        condition=IfCondition(use_mock_hardware),
-    )
-
-    ur_control_node = Node(
-        package="ur_robot_driver",
-        executable="ur_ros2_control_node",
-        parameters=[
-            robot_description,
-            update_rate_config_file,
-            ParameterFile(initial_joint_controllers, allow_substs=True),
-        ],
-        output="screen",
-        condition=UnlessCondition(use_mock_hardware),
     )
 
     dashboard_client_node = Node(
@@ -389,7 +375,6 @@ def controller_spawner(controllers, active=True):
 
     nodes_to_start = [
         control_node,
-        ur_control_node,
         dashboard_client_node,
         tool_communication_node,
         controller_stopper_node,

diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/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_robot_driver</name>
-  <version>2.4.3</version>
+  <version>2.4.4</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
 
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/ur_robot_driver/src/ur_ros2_control_node.cpp b/ur_robot_driver/src/ur_ros2_control_node.cpp