ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom] #35593

fmauch · 2022-12-09T09:19:33Z

Increasing version of package(s) in repository ur_robot_driver to 2.1.0-1:

upstream repository: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
release repository: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver-release.git
distro file: noetic/distribution.yaml
bloom version: 0.11.2
previous version for package: null

controller_stopper

* Drop old C++ compiler flags (#577 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/577>)
  Co-authored-by: Jochen Sprickerhof <mailto:[email protected]>
* Remove boilerplate comments from package.xml files (#528 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/528>)
* Contributors: Felix Exner, Michael Görner

ur_calibration

* fix dependency for the organization calibration package (#549 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/549>)
* Drop old C++ compiler flags (#577 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/577>)
  Co-authored-by: Jochen Sprickerhof <mailto:[email protected]>
* Remove boilerplate comments from package.xml files (#528 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/528>)
* Contributors: Captain Yoshi, Felix Exner, Michael Görner

ur_dashboard_msgs

* Use the RobotMode message inside the SetMode action (#381 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/381>)
  This way we can make use of the predefined constants inside the RobotMode message.
* Drop old C++ compiler flags (#577 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/577>)
  Co-authored-by: Jochen Sprickerhof <mailto:[email protected]>
* Remove boilerplate comments from package.xml files (#528 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/528>)
* Dashboard service to query whether the robot is in remote control (#561 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/561>)
  * new dashboard msg to check remote control
* Contributors: Felix Exner, Felix Exner (fexner), Michael Görner, Mingu Kwon

ur_robot_driver

* delete ros_control.urscript (#593 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/593>)
  We've been using the script from the library for a while now
* Use the RobotMode message inside the SetMode action (#381 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/381>)
  This way we can make use of the predefined constants inside the RobotMode message.
* Make several members of hw_interface atomic, for thread safety (#448 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/448>)
  Co-authored-by: Felix Exner (fexner) <mailto:[email protected]>
* Updated transformForceTorque to handle wheter it is a cb3 or an e-Series robot (#566 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/566>)
  The force torque is returned at the tool flange on e-series robots and at the tcp for CB3, this is now handled correctly, so that all force/torque measurements will be relative to the active TCP
* Updated set payload, zero ftsensor and set tool voltage to use the ur… (#567 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/567>)
  * Updated set payload, zero ftsensor and set tool voltage to use the urdriver
  This makes it possible to call the commands when the robot is in local control if the external control script is running on the robot.
  * Update ROS interface docs
  * Fix argument passing in include instruction
  Co-authored-by: Miguel Prada <mailto:[email protected]>
* Remove URCap installation files from driver and replace references (#580 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/580>)
  Link to the respective Github release pages instead.
* Drop old C++ compiler flags (#577 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/577>)
  Co-authored-by: Jochen Sprickerhof <mailto:[email protected]>
* Fix MoveIt! command in Example (#575 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/575>)
* Allow empty stopped_controllers argument. (#572 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/572>)
* Dashboard service to query whether the robot is in remote control (#561 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/561>)
  * new dashboard msg to check remote control
* test_move: Load controller only if it is not already loaded (#552 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/552>)
* Add optional topic rename for speed scaling factor (#544 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/544>)
  * Add optional topic rename for speed scaling factor
  * Update ROS_INTERFACE.md
* Wait for controller action server in test_move. (#535 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/535>)
* Minor update to display robot_ip parameter without _ (#521 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/521>)
* Make hw_interface-node required-argument optional (#450 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/450>)
  The UR-robot is only one part of our roslaunch-setup, so I would like to be able to have the rest of the system (non-UR) continue to run even if the ur_hardware_interface-node dies.
* Fix test move python3 (#492 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/492>)
  * make test_move work with python2 and python3
  As suggested in http://wiki.ros.org/UsingPython3/SourceCodeChanges#Changing_shebangs
  - Use a version-independent shebang
  - Use catkin_install_python to install the test_move script
* Update feature list (#490 <https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/490>)
  Some minor formatting and reducing the wrench features to one features to make it more clear.
* Contributors: Adam Heins, AndyZe, Felix Exner, Felix Exner (fexner), Johnson, Mads Holm Peters, Michael Görner, Mingu Kwon, steinmn, teapfw, williamnavaraj

hidmic · 2022-12-09T18:59:54Z

noetic/distribution.yaml

+      version: master
+    release:
+      packages:
+      - controller_stopper


@fmauch controller_stopper is a bit too generic for a package name. I understand it is to be used along with the http://wiki.ros.org/controller_manager package, which makes me wonder if it shouldn't be over at https://github.com/ros-controls/ros_control instead. @audrow thoughts?

Yes, the packages was indeed meant to be a generic node to interact with the controller_manager. Since I had implemented something similar using a KUKA robot in the past, I thought it would be good to make this a generic node, hence the generic name. However, since I'm not too deeply involved into ros_control development I think it would be better to keep it here at the moment. I assume the location of this package could be changed again, later.

I do agree that the name may be too generic. If we're going to keep it in this repo, maybe we could change the name to be less generic. If it does move over to ros_control, then maybe we can go back to the generic name.

Thanks for the feedback. Although I do not fully agree, I also understand the concerns raised.

For the record: I've created an issue at ros-controls/ros_control#510 but we'll be thinking about a more suitable name in parallel.

I'm really looking forward to this release 👍
would it be an option to noetic.ignore the controller_stopper in this first release and continue with the other packages - and then resolve the issue around controller_stopper in the next iteration?

Leaving out the controller_stopper is not really an option, as it is a runtime dependency for the driver (at least from its launchfiles).

We've been discussing this internally and we basically see two ways forward: Either we merge the controller_stopper into the driver's package, as we did for ROS2 (as it is a bit more UR-specific there) or we leave it with the current name and publish it like that. The latter would leave the option to migrate the package to ros_control at some point. @audrow do you think the second option would be possible? Otherwise I will go ahead and drop the standalone package.

hidmic · 2022-12-09T19:00:44Z

noetic/distribution.yaml

+      version: 2.1.0-1
+    source:
+      type: git
+      url: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git


@fmauch I see a few LICENSE files in the source repository but none at the root. Would you mind adding a copy (or relocating one of the existing ones)?

sure, that should not be a problem.

Edit: See UniversalRobots/Universal_Robots_ROS_Driver#594

fmauch · 2023-01-23T13:25:00Z

Closing in favor of #35923

ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom]

7ea93b1

github-actions bot added the noetic Issue/PR is for the ROS 1 Noetic distribution label Dec 9, 2022

hidmic reviewed Dec 9, 2022

View reviewed changes

This was referenced Dec 12, 2022

Add license file at root and in msgs package UniversalRobots/Universal_Robots_ROS_Driver#594

Merged

[ROS1] controller_stopper from ur_robot_driver repo ros-controls/ros_control#510

Open

audrow added the changes requested Maintainers have asked for changes to the pull request label Dec 12, 2022

RobertWilbrandt mentioned this pull request Jan 23, 2023

ur_robot_driver: 2.1.1-1 in 'noetic/distribution.yaml' [bloom] #35921

Closed

fmauch closed this Jan 23, 2023

fmauch deleted the bloom-ur_robot_driver-15 branch January 23, 2023 13:25

RobertWilbrandt mentioned this pull request Jan 23, 2023

ur_robot_driver: 2.1.2-1 in 'noetic/distribution.yaml' [bloom] #35923

Merged

gavanderhoorn mentioned this pull request Jan 29, 2023

isolate / release controller_stopper UniversalRobots/Universal_Robots_ROS_Driver#523

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ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom] #35593

ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom] #35593

fmauch commented Dec 9, 2022

hidmic Dec 9, 2022

fmauch Dec 12, 2022

audrow Dec 12, 2022

fmauch Dec 12, 2022

fmessmer Jan 10, 2023

fmauch Jan 10, 2023

hidmic Dec 9, 2022

fmauch Dec 12, 2022 •

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fmauch commented Jan 23, 2023

ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom] #35593

ur_robot_driver: 2.1.0-1 in 'noetic/distribution.yaml' [bloom] #35593

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fmauch commented Dec 9, 2022

controller_stopper

ur_calibration

ur_dashboard_msgs

ur_robot_driver

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