Service to get software version of robot #964
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ur_robot_driver/test/robot_driver.py
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| def test_tool_contact(self, tf_prefix): | ||
| if self._io_status_controller_interface.get_version().major < 5: | ||
| start_result = self._io_status_controller_interface.start_tool_contact() | ||
| self.assertEqual(start_result.success, False) | ||
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| end_result = self._io_status_controller_interface.end_tool_contact() | ||
| self.assertEqual(end_result.success, False) | ||
| else: | ||
| start_result = self._io_status_controller_interface.start_tool_contact() | ||
| self.assertEqual(start_result.success, True) | ||
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| end_result = self._io_status_controller_interface.end_tool_contact() | ||
| self.assertEqual(end_result.success, True) | ||
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This doesn't seem like it belongs here.
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This is a re-implementation of the tool contact test, so it will work on all versions of the robot. The one included in the Tool contact PR will only work on e-series robots, as it cannot see the robot's software version, and tool contact can only be used on e-series robots.
I could move this to it's own pull request if that makes more sense? I agree that it probably doesn't quite fit in here.
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@fmauch I have removed the tool contact parts from both pull requests now. I will make a new PR to add the tests back when this has been merged.
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This looks like it got in here accitentally
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I think this got in here accidentally.
ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
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| tf_prefix: { | ||
| type: string, | ||
| default_value: "", | ||
| description: "Urdf prefix of the corresponding arm" |
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| description: "Urdf prefix of the corresponding arm" | |
| description: "URDF prefix of the corresponding arm" |
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This should not go into this PR I guess.
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This file should not get removed by this PR. Please fix that.
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This file should not get removed by this PR. Please fix that.
…st of tool contact
Co-authored-by: Felix Exner (fexner) <[email protected]>
Also moved the version information from being stored in the command interface to be stored in the state interface
…st of tool contact
Also moved the version information from being stored in the command interface to be stored in the state interface
And moved the get_robot_software_version service in to it.
Also minor cleanup and add testing of the robot software version service
the RealTimeBox used before is not really real-time safe and the way it was implemented there was unnecessary data allocation in both, the activate method and the service callback. Using the RealTimeBoxBestEffort makes allocating additional memory unnecessary and makes things really thread-safe.
This PR implements a service to get the software version of the robot (useful for certain functionalities, for example tool contact can only work on e-series robots). This PR depends on PR for functionality and PR for the tests to work.