Service to get software version of robot (backport #964) #1128
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* Implemented get_version service * Implemented test of get_version service and integrated it with the test of tool contact * Update ur_robot_driver/test/test_common.py Co-authored-by: Felix Exner (fexner) <felix_mauch@web.de> * Renamed service to "GetRobotSoftwareVersion" everywhere. Also moved the version information from being stored in the command interface to be stored in the state interface * Remove tool contact from test. * Implemented test of get_version service and integrated it with the test of tool contact * Renamed service to "GetRobotSoftwareVersion" everywhere. Also moved the version information from being stored in the command interface to be stored in the state interface * Remove tool contact from test. * Create new URConfigurationController And moved the get_robot_software_version service in to it. * Make configuration controller thread safe Also minor cleanup and add testing of the robot software version service * Use ptr-safe RealTimeBoxBestEffort 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. * Added back files that were mistakenly deleted (cherry picked from commit d1290a7)
fmauch
approved these changes
Oct 8, 2024
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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.
This is an automatic backport of pull request #964 done by Mergify.