Merge branch 'main' into issue_844

.github/workflows/ci-format.yml

@@ -16,11 +16,11 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.10.4
     - name: Install system hooks
       run: sudo apt-get install clang-format-14 cppcheck
-    - uses: pre-commit/action@v3.0.0
+    - uses: pre-commit/action@v3.0.1
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/coverage-build.yml

@@ -45,7 +45,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.os }}
           path: ros_ws/log

.github/workflows/iron-binary-main.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-binary-testing.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-semi-binary-main.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/iron-semi-binary-testing.yml

@@ -6,7 +6,6 @@ on:
   pull_request:
     branches:
       - iron
-      - main # as long as rolling and iron should be compatible
   push:
     branches:
       - iron

.github/workflows/update-ci.yml

@@ -15,7 +15,7 @@ jobs:
     steps:
       # Setup pre-commit
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: 3.10.4
       - name: Install pre-commit
@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v5
+        uses: peter-evans/create-pull-request@v6
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,13 +33,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.13.0
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 23.9.1
+    rev: 24.2.0
     hooks:
       - id: black
         args: ["--line-length=100"]
@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D401,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 6.1.0
+    rev: 7.0.0
     hooks:
     - id: flake8
       args: ["--ignore=E501,W503"]
@@ -135,7 +135,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']

README.md

@@ -85,12 +85,19 @@ users an overview of the current released state.
   - `ur_moveit_config` - example MoveIt configuration for UR robots.
   - `ur_robot_driver` - driver / hardware interface for communication with UR robots.
 
+## System Requirements
+
+Please see the [requirements for the Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library#requirements), as this driver is build on top of Universal_Robots_Client_Library.
+
 ## Getting Started
 
 For getting started, you'll basically need three steps:
 
-1. **Install the driver** (see below). You can either install this driver from binary packages or build it from source. We recommend a
-binary package installation unless you want to join development and submit changes.
+1. **Install the driver**
+   ```bash
+   sudo apt-get install ros-rolling-ur
+   ```
+   See the [installation instructions](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/installation.html) for more details and source-build instructions.
 
 2. **Start & Setup the robot**. Once you've installed the driver, [setup the
    robot](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/installation/robot_setup.html)
@@ -110,65 +117,14 @@ binary package installation unless you want to join development and submit chang
    documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/usage.html) for
    details.
 
-4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
-
-### Install from binary packages
-1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
-      branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
-      branches.
-2. Install the driver using
-   ```
-   sudo apt-get install ros-${ROS_DISTRO}-ur
+   ```bash
+   # Replace ur5e with one of ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20, ur30
+   # Replace the IP address with the IP address of your actual robot / URSim
+   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.56.101
    ```
 
-### Build from source
-Before building from source please make sure that you actually need to do that. Building from source
-might require some special treatment, especially when it comes to dependency management.
-Dependencies might change from time to time. Upstream packages (such as the library) might change
-their features / API which require changes in this repo. Therefore, this repo's source builds might
-require upstream repositories to be present in a certain version as otherwise builds might fail.
-Starting from scratch following exactly the steps below should always work, but simply pulling and
-building might fail occasionally.
-
-1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). This
-      branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective
-      branches.
-
-   Once installed, please make sure to actually [source ROS2](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files) before proceeding.
-
-3. Make sure that `colcon`, its extensions and `vcs` are installed:
-   ```
-   sudo apt install python3-colcon-common-extensions python3-vcstool
-   ```
-
-4. Create a new ROS2 workspace:
-   ```
-   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:
-   ```
-   cd $COLCON_WS
-   git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
-   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
-   rosdep update
-   rosdep install --ignore-src --from-paths src -y
-   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
-   source install/setup.bash
-   ```
-
-6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
-   package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
-   the semi-binary builds are green, you need to build the upstream dependencies from source. The
-   easiest way to achieve this, is using the repos file:
+4. Unless started in [headless mode](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#headless-mode): Run the external_control program by **pressing `play` on the teach pendant**.
 
-   ```
-   cd $COLCON_WS
-   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
-   rosdep update
-   rosdep install --ignore-src --from-paths src -y
-   ```
 
 ## MoveIt! support
 

Universal_Robots_ROS2_Driver.iron.repos

@@ -14,11 +14,11 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: iron
   ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers
-    version: master
+    version: iron
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git

ur/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.3 (2024-02-02)
+------------------
+
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

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>2.4.1</version>
+  <version>2.4.3</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="exner@fzi.de">Felix Exner</maintainer>
   <maintainer email="wilbrandt@fzi.de">Robert Wilbrandt</maintainer>

ur_calibration/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.3 (2024-02-02)
+------------------
+
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

ur_calibration/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>2.4.1</version>
+  <version>2.4.3</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="exner@fzi.de">Felix Exner</maintainer>

ur_controllers/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.3 (2024-02-02)
+------------------
+
+2.4.2 (2023-11-23)
+------------------
+* Update read_state_from_hardware
+* Renamed normalize_joint_error to joints_angle_wraparound
+* Remove noisy controller log message
+* Contributors: Felix Exner, Robert Wilbrandt
+
 2.4.1 (2023-09-21)
 ------------------
 * Update sjtc to newest upstream API (`#810 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/810>`_)

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>2.4.1</version>
+  <version>2.4.3</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="denis@stoglrobotics.de">Denis Stogl</maintainer>

ur_controllers/src/gpio_controller.cpp

@@ -48,7 +48,6 @@ controller_interface::CallbackReturn GPIOController::on_init()
     // Create the parameter listener and get the parameters
     param_listener_ = std::make_shared<gpio_controller::ParamListener>(get_node());
     params_ = param_listener_->get_params();
-
   } catch (const std::exception& e) {
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return CallbackReturn::ERROR;
@@ -63,7 +62,6 @@ controller_interface::InterfaceConfiguration GPIOController::command_interface_c
   config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
 
   const std::string tf_prefix = params_.tf_prefix;
-  RCLCPP_INFO(get_node()->get_logger(), "Configure UR gpio controller with tf_prefix: %s", tf_prefix.c_str());
 
   for (size_t i = 0; i < 18; ++i) {
     config.names.emplace_back(tf_prefix + "gpio/standard_digital_output_cmd_" + std::to_string(i));

ur_controllers/src/scaled_joint_trajectory_controller.cpp

@@ -90,7 +90,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
   auto compute_error_for_joint = [&](JointTrajectoryPoint& error, size_t index, const JointTrajectoryPoint& current,
                                      const JointTrajectoryPoint& desired) {
     // error defined as the difference between current and desired
-    if (normalize_joint_error_[index]) {
+    if (joints_angle_wraparound_[index]) {
       // if desired, the shortest_angular_distance is calculated, i.e., the error is
       //  normalized between -pi<error<pi
       error.positions[index] = angles::shortest_angular_distance(current.positions[index], desired.positions[index]);
@@ -129,7 +129,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
 
   // current state update
   state_current_.time_from_start.set__sec(0);
-  read_state_from_hardware(state_current_);
+  read_state_from_state_interfaces(state_current_);
 
   // currently carrying out a trajectory
   if (has_active_trajectory()) {

ur_dashboard_msgs/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.3 (2024-02-02)
+------------------
+
+2.4.2 (2023-11-23)
+------------------
+
 2.4.1 (2023-09-21)
 ------------------
 

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>2.4.1</version>
+  <version>2.4.3</version>
   <description>Messages around the UR Dashboard server.</description>
 
   <maintainer email="exner@fzi.de">Felix Exner</maintainer>

ur_moveit_config/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package ur_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.4.3 (2024-02-02)
+------------------
+* fix move_group_node crash during initialization (`#906 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/906>`_)
+* Add UR30 support (`#899 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/899>`_)
+* Contributors: Chen Chen, Felix Exner (fexner)
+
+2.4.2 (2023-11-23)
+------------------
+* moveit_servo package executable name has changed (`#854 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/854>`_)
+* Contributors: Felix Durchdewald
+
 2.4.1 (2023-09-21)
 ------------------
 * Added support for UR20 (`#797 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/797>`_)

ur_moveit_config/config/ur_servo.yaml

@@ -40,7 +40,7 @@ move_group_name:  ur_manipulator  # Often 'manipulator' or 'arm'
 planning_frame: base_link  # The MoveIt planning frame. Often 'base_link' or 'world'
 
 ## Other frames
-ee_frame_name: tool0  # The name of the end effector link, used to return the EE pose
+ee_frame: tool0  # The name of the end effector link, used to return the EE pose
 robot_link_command_frame:  tool0  # commands must be given in the frame of a robot link. Usually either the base or end effector
 
 ## Stopping behaviour