Merge branch 'main' into get_version

UniversalRobots · Oct 7, 2024 · b6ff42a · b6ff42a
2 parents 4294aa7 + 496d924
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diff --git a/.github/workflows/update-ci.yml b/.github/workflows/update-ci.yml
@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -69,7 +69,7 @@ repos:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -80,7 +80,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +102,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists.txt$
@@ -113,14 +113,14 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
         args: ['--exclude', 'ur_robot_driver/doc/conf.py', 'ur_calibration/doc/conf.py']
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']

diff --git a/ci_status.md b/ci_status.md
@@ -107,11 +107,11 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt
       <a href='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_robot_driver'></a>
     </td>
     <td> <!-- jazzy -->
-      <a href='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_calibration'></a><br/>
-      <a href='https://build.ros2.org/job/Rbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_controllers'></a>
-      <a href='https://build.ros2.org/job/Rbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_dashboard_msgs'></a>
-      <a href='https://build.ros2.org/job/Rbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_moveit_config'></a>
-      <a href='https://build.ros2.org/job/Rbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_robot_driver'></a>
+      <a href='https://build.ros2.org/job/Jbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_calibration'></a><br/>
+      <a href='https://build.ros2.org/job/Jbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_controllers'></a>
+      <a href='https://build.ros2.org/job/Jbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_dashboard_msgs'></a>
+      <a href='https://build.ros2.org/job/Jbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_moveit_config'></a>
+      <a href='https://build.ros2.org/job/Jbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_robot_driver'></a>
     </td>
     <td> <!-- rolling -->
       <a href='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_calibration'></a><br/>

diff --git a/ur/CHANGELOG.rst b/ur/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.10 (2024-09-11)
+-------------------
+* Update maintainers team (`#1088 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1088>`_)
+* Contributors: Vincenzo Di Pentima
+
 2.4.9 (2024-08-09)
 ------------------
 

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>2.4.9</version>
+  <version>2.4.10</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Vincenzo Di Pentima</maintainer>

diff --git a/ur_calibration/CHANGELOG.rst b/ur_calibration/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.10 (2024-09-11)
+-------------------
+* Update maintainers team (`#1088 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1088>`_)
+* Contributors: Vincenzo Di Pentima
+
 2.4.9 (2024-08-09)
 ------------------
 

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>2.4.9</version>
+  <version>2.4.10</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 +2,12 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.10 (2024-09-11)
+-------------------
+* Updated get_state to get_lifecycle_state (`#1087 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1087>`_)
+* Update maintainers team (`#1088 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1088>`_)
+* Contributors: Vincenzo Di Pentima
+
 2.4.9 (2024-08-09)
 ------------------
 

diff --git a/ur_controllers/README.md b/ur_controllers/README.md
@@ -1,6 +1,6 @@
 # ur_controllers
 
-This package contains controllers and hardware interface for `ros_control` that are special to the UR
+This package contains controllers and hardware interface for `ros2_control` that are special to the UR
 robot family. Currently this contains
 
   * A **speed_scaling_interface** to read the value of the current speed scaling into controllers.

diff --git a/ur_controllers/doc/index.rst b/ur_controllers/doc/index.rst
@@ -1,32 +1,33 @@
 ur_controllers
 ==============
 
-This package contains controllers and hardware interface for ``ros_control`` that are special to the UR
+This package contains controllers and hardware interface for ``ros2_controllers`` that are special to the UR
 robot family. Currently this contains:
 
 
-* A **speed_scaling_interface** to read the value of the current speed scaling into controllers.
-* A **scaled_joint_command_interface** that provides access to joint values and commands in
-  combination with the speed scaling value.
-* A **speed_scaling_state_controller** that publishes the current execution speed as reported by
+* A **speed_scaling_state_broadcaster** that publishes the current execution speed as reported by
   the robot to a topic interface. Values are floating points between 0 and 1.
 * A **scaled_joint_trajectory_controller** that is similar to the *joint_trajectory_controller*\ ,
-  but it uses the speed scaling reported by the robot to reduce progress in the trajectory.
+  but it uses the speed scaling reported to align progress of the trajectory between the robot and controller.
+* A **io_and_status_controller** that allows setting I/O ports, controlling some UR-specific
+  functionality and publishes status information about the robot.
 
 About this package
 ------------------
 
-This package contains controllers not being available in the default ``ros_control`` set. They are
-created to support more features offered by the UR robot family. Any of these controllers are
+This package contains controllers not being available in the default ``ros2_controllers`` set. They are
+created to support more features offered by the UR robot family. Some of these controllers are
 example implementations for certain features and are intended to be generalized and merged
-into the default ``ros_control`` controller set at some future point.
+into the default ``ros2_controllers`` controller set at some future point.
 
 Controller description
 ----------------------
 
 This packages offers a couple of specific controllers that will be explained in the following
 sections.
 
+.. _speed_scaling_state_broadcaster:
+
 ur_controllers/SpeedScalingStateBroadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -41,8 +42,10 @@ fields ``speed_scaling`` (which should be equal to the value shown by the speed
 teach pendant) and ``target_speed_fraction`` (Which is the fraction to which execution gets slowed
 down by the controller).
 
-position_controllers/ScaledJointTrajectoryController and velocity_controllers/ScaledJointTrajectoryController
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. _scaled_jtc:
+
+ur_controlers/ScaledJointTrajectoryController
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 These controllers work similar to the well-known
 `joint_trajectory_controller <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`_.
@@ -97,3 +100,36 @@ Under the hood this is implemented by proceeding the trajectory not by a full ti
 the fraction determined by the current speed scaling. If speed scaling is currently at 50% then
 interpolation of the current control cycle will start half a time step after the beginning of the
 previous control cycle.
+
+.. _io_and_status_controller:
+
+ur_controllers/GPIOController
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This controller allows setting I/O ports, controlling some UR-specific functionality and publishes
+status information about the robot.
+
+Published topics
+""""""""""""""""
+
+* ``~/io_states [ur_msgs/msg/IOStates]``: Status of all I/O ports
+* ``~/robot_mode [ur_dashboard_msgs/msg/RobotMode]``: The current robot mode (e.g. ``POWER_OFF``,
+  ``IDLE``, ``RUNNING``)
+* ``~/robot_program_running [std_msgs/msg/Bool]``: Publishes whether **the External Control
+  program** is running or not. If this is ``false`` no commands can be sent to the robot.
+* ``~/safety_mode [ur_dashboard_msgs/msg/SafetyMode]``: The robot's current safety mode (e.g.
+  ``PROTECTIVE_STOP``, ``ROBOT_EMERGENCY_STOP``, ``NORMAL``)
+* ``~/tool_data [ur_msgs/msg/ToolDataMsg]``: Information about the robot's tool configuration
+
+Advertised services
+"""""""""""""""""""
+
+* ``~/hand_back_control [std_srvs/srv/Trigger]``: Calling this service will make the robot program
+  exit the *External Control* program node and continue with the rest of the program.
+* ``~/resend_robot_program [std_srvs/srv/Trigger]``: When :ref:`headless_mode` is used, this
+  service can be used to restart the *External Control* program on the robot.
+* ``~/set_io [ur_msgs/srv/SetIO]``: Set an output pin on the robot.
+* ``~/set_payload [ur_msgs/srv/SetPayload]``: Change the robot's payload on-the-fly.
+* ``~/set_speed_slider [ur_msgs/srv/SetSpeedSliderFraction]``: Set the value of the speed slider.
+* ``~/zero_ftsensor [std_srvs/srv/Trigger]``: Zeroes the reported wrench of the force torque
+  sensor.
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>2.4.9</version>
+  <version>2.4.10</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

diff --git a/ur_dashboard_msgs/CHANGELOG.rst b/ur_dashboard_msgs/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.10 (2024-09-11)
+-------------------
+* Update maintainers team (`#1088 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1088>`_)
+* Contributors: Vincenzo Di Pentima
+
 2.4.9 (2024-08-09)
 ------------------
 

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>2.4.9</version>
+  <version>2.4.10</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
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.10 (2024-09-11)
+-------------------
+
 2.4.9 (2024-08-09)
 ------------------
 * Added Jazzy migration notes for moveit_config (`#1058 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1058>`_)

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>2.4.9</version>
+  <version>2.4.10</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 +1,9 @@
+2.4.10 (2024-09-11)
+-------------------
+* Fix for forward_velocity_controller test (`#1076 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1076>`_)
+* Update maintainers team (`#1088 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1088>`_)
+* Contributors: Vincenzo Di Pentima
+
 2.4.9 (2024-08-09)
 ------------------
 * Added dynamics tag when using mock_components/GenericSystem (`#1075 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1075>`_)

diff --git a/ur_robot_driver/README.md b/ur_robot_driver/README.md
@@ -48,8 +48,8 @@ For using the **tool communication interface** on e-Series robots, a `socat` scr
 forward the robot's tool communication interface to a local device on the ROS PC. See [the tool
 communication setup guide](doc/setup_tool_communication.rst) for details.
 
-This driver is using [ROS-Control](https://wiki.ros.org/ros_control) for any control statements.
-Therefore, it can be used with all position-based controllers available in ROS-Control. However, we
+This driver is using [`ros2_control`](https://control.ros.org) for any control statements.
+Therefore, it can be used with all position-based controllers available in `ros2_control`. However, we
 recommend using the controllers from the `ur_controllers` package. See it's
 [documentation](../ur_controllers/README.md) for details. **Note: Speed scaling support will only be
 available using the controllers from `ur_controllers`**

diff --git a/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml b/ur_robot_driver/config/test_velocity_goal_publishers_config.yaml
@@ -1,10 +1,10 @@
 publisher_forward_velocity_controller:
   ros__parameters:
 
-    controller_name: "forward_velocity_controller"
+    publish_topic: "forward_velocity_controller/commands"
     wait_sec_between_publish: 5
 
-    goal_names: ["pos1", "pos2", "pos3"]
-    pos1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.05]
-    pos2: [0.0, 0.0, 0.0, 0.0, 0.0, -0.05]
-    pos3: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+    goal_names: ["vel1", "vel2", "vel3"]
+    vel1: [0.0, 0.0, 0.0, 0.0, 0.0, 0.5]
+    vel2: [0.0, 0.0, 0.0, 0.0, 0.0, -0.5]
+    vel3: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]