From eb9a9be0f28d801cb4b4ce05332701eb39f425c4 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Sat, 10 Apr 2021 16:48:07 +0200 Subject: [PATCH 01/16] Added missing include --- include/ur_client_library/comm/tcp_server.h | 1 + 1 file changed, 1 insertion(+) diff --git a/include/ur_client_library/comm/tcp_server.h b/include/ur_client_library/comm/tcp_server.h index 6e4787175..fb2d0130a 100644 --- a/include/ur_client_library/comm/tcp_server.h +++ b/include/ur_client_library/comm/tcp_server.h @@ -36,6 +36,7 @@ #include #include #include +#include namespace urcl { From aa5415055bdbffddb15cb0453581149efd214974 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 3 May 2021 08:36:14 +0200 Subject: [PATCH 02/16] Prepare changelog for next release --- CHANGELOG.rst | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index d166834fa..c4d6bcd09 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add function to set keepalive counter +* Use a non-blocking tcp server for the `ReverseInterface` and `ScriptSender`. +* Added header and control loop definitions. +* Update documentation on ReverseInterface +* Testing improvements: + + Run coverage on tests + + Added unit test for tcp server + + Remove the special boost include dir from the ci pipeline + + Install boost in test container +* Implement a TCPServer class +* Move script file to resources folder instead of examples/resources +* Add interface function to receive configured RTDE output recipe from driver +* Added loghandler, this enables the possibility for the driver to change the behavior when logging messages with this library. +* Fixed links in README (`#35 `_) +* Documentation improvements: + + Added Compiler minimum version table + + Corrected links to driver's files + + Add a requirements section to the README + + Removed unstable warning + + Added a requirement note about Linux + + Further elaborated license statements in README + + readme: missing whitespace +* Merge changes from boost branch + Changes + * Added changelog from boost branch + * fixed build warnings +* Reduce build warnings + + Removing unused code + + Bumping the minimum required cmake version to 3.0.2 + + Using const qualifiers for size_t variables used to initialize arrays +* Use const qualifier for array size_t variables +* Removed unused and incomplete code from example +* Bump minimum required cmake version to 3.0.2 +* Install package.xml when built with catkin support +* Contributors: Felix Exner, G.A. vd. Hoorn, urmahp + 0.1.1 (2020-09-15) ------------------ * readme: missing whitespace From 95154d07da594f4fd7c14efb31560ba5ce8e1be7 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 3 May 2021 08:37:22 +0200 Subject: [PATCH 03/16] 0.2.0 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index c4d6bcd09..47cf36b82 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.2.0 (2021-05-03) +------------------ * Add function to set keepalive counter * Use a non-blocking tcp server for the `ReverseInterface` and `ScriptSender`. * Added header and control loop definitions. diff --git a/package.xml b/package.xml index 3c571472e..eaed986a4 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.1.1 + 0.2.0 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From 7e71ffddb9cbe2f0cd3c4b2212eecfc80db52bd6 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 6 May 2021 16:56:52 +0200 Subject: [PATCH 04/16] Prepare changelog for next release --- CHANGELOG.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 47cf36b82..9bc045cd2 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Run ci also for ROS2 foxy +* Prepare package.xml and cmakelists for ROS2 +* Add downstream workspace +* Contributors: Felix Exner, Lennart Puck + 0.2.0 (2021-05-03) ------------------ * Add function to set keepalive counter From 000896827c313eddfaf3c6e432609258d6bbe5a3 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 6 May 2021 16:57:51 +0200 Subject: [PATCH 05/16] 0.2.1 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 9bc045cd2..3067b761f 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.2.1 (2021-05-06) +------------------ * Run ci also for ROS2 foxy * Prepare package.xml and cmakelists for ROS2 * Add downstream workspace diff --git a/package.xml b/package.xml index 7aba137b7..404fd6c25 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.2.0 + 0.2.1 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From 3bef6bb4b3a4bc55c7b7e75de4ae6245b54c0bce Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 31 May 2021 12:09:53 +0200 Subject: [PATCH 06/16] Updated changelog --- CHANGELOG.rst | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 3067b761f..d62da94ed 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add reverse_ip parameter to UrDriver (`#52 `_) +* Make calibration check optionally callable +* Use file= fields for license tags in package.xml (`#63 `_) +* Install the resources folder instead of the script file directly (`#62 `_) +* Contributors: Felix Exner, JS00000 + 0.2.1 (2021-05-06) ------------------ * Run ci also for ROS2 foxy From fcf42588ee3c4974d0f5a1e8c7d6aea0767ffdcc Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 31 May 2021 12:11:54 +0200 Subject: [PATCH 07/16] 0.2.2 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index d62da94ed..f3e937453 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.2.2 (2021-05-31) +------------------ * Add reverse_ip parameter to UrDriver (`#52 `_) * Make calibration check optionally callable * Use file= fields for license tags in package.xml (`#63 `_) diff --git a/package.xml b/package.xml index 7089ff0d8..55832d989 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.2.1 + 0.2.2 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From cb6a670ec5a8b5d0452cd9f4991535afb8a8b3f5 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 18 Jun 2021 15:03:05 +0200 Subject: [PATCH 08/16] Updated changelog for upcoming release --- CHANGELOG.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index f3e937453..434a0f165 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added Cartesian streaming interface `#75 `_ from UniversalRobots/cartesian_interface +* Add trajectory interface to library `#72 `_ from fmauch/trajectory_interface +* Refactor reverse interface `#70 `_ from fmauch/refactor_reverse_interface +* Contributors: Felix Exner, Mads Holm Peters, Tristan Schnell + 0.2.2 (2021-05-31) ------------------ * Add reverse_ip parameter to UrDriver (`#52 `_) From a6da2d4cfa5cb298dd5be6b231a2edb79a984cd2 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 18 Jun 2021 15:03:22 +0200 Subject: [PATCH 09/16] 0.3.0 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 434a0f165..5b7c82167 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.0 (2021-06-18) +------------------ * Added Cartesian streaming interface `#75 `_ from UniversalRobots/cartesian_interface * Add trajectory interface to library `#72 `_ from fmauch/trajectory_interface * Refactor reverse interface `#70 `_ from fmauch/refactor_reverse_interface diff --git a/package.xml b/package.xml index 55832d989..c0fc4f7ae 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.2.2 + 0.3.0 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From b2f4ce2ec0b5bb28b21fc4a175da7d6f5265a066 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 22 Jun 2021 16:26:36 +0200 Subject: [PATCH 10/16] Update changelog --- CHANGELOG.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 5b7c82167..f73503cfc 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Always install package.xml file +* Contributors: Felix Exner + 0.3.0 (2021-06-18) ------------------ * Added Cartesian streaming interface `#75 `_ from UniversalRobots/cartesian_interface From 90e371554d368538e3303ce3fc5773a2e6bba486 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 22 Jun 2021 16:27:10 +0200 Subject: [PATCH 11/16] 0.3.1 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index f73503cfc..aea5780b7 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.1 (2021-06-22) +------------------ * Always install package.xml file * Contributors: Felix Exner diff --git a/package.xml b/package.xml index c0fc4f7ae..beb539aec 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.3.0 + 0.3.1 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From 316188283d00af91e8d59f59ed168bd953de9730 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 15 Sep 2021 12:08:26 +0200 Subject: [PATCH 12/16] Update changelog for upcoming release --- CHANGELOG.rst | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index aea5780b7..9d67d65c8 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Removed console_bridge dependency (`#74 `_) + As log handlers for the client library has been created in the drivers, the console bridge dependency is no longer needed. +* Added "On behalf of Universal Robots A/S" notice (`#81 `_) + to all files that have been created by FZI +* Contributors: Felix Exner, Mads Holm Peters + 0.3.1 (2021-06-22) ------------------ * Always install package.xml file From ccb14295884d1455a1caab5854a740dafbdc7598 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 15 Sep 2021 12:08:40 +0200 Subject: [PATCH 13/16] 0.3.2 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 9d67d65c8..44369f1fb 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.2 (2021-09-15) +------------------ * Removed console_bridge dependency (`#74 `_) As log handlers for the client library has been created in the drivers, the console bridge dependency is no longer needed. * Added "On behalf of Universal Robots A/S" notice (`#81 `_) diff --git a/package.xml b/package.xml index 87eaa2323..d8f9ce2d1 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.3.1 + 0.3.2 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen From f7ce9f73181848f3957c660647fac0e5325862b9 Mon Sep 17 00:00:00 2001 From: rxjia <60809735+rxjia@users.noreply.github.com> Date: Mon, 13 Jun 2022 15:29:30 +0800 Subject: [PATCH 14/16] Fix 'BEGIN_REPLACE' - used in tool_communication (#101) --- resources/external_control.urscript | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/resources/external_control.urscript b/resources/external_control.urscript index c9733dd88..a81a2edc5 100644 --- a/resources/external_control.urscript +++ b/resources/external_control.urscript @@ -1,7 +1,7 @@ -{{BEGIN_REPLACE}} - # HEADER_BEGIN +{{BEGIN_REPLACE}} + steptime = get_steptime() textmsg("ExternalControl: steptime=", steptime) From 74945095e21be2796de4aca65d33dc0d40c4c519 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 10 Oct 2022 16:44:48 +0200 Subject: [PATCH 15/16] Update changelog for upcoming release --- CHANGELOG.rst | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 44369f1fb..c6398e35b 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,37 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Initialized receive timeout and changed exception to warning (`#118 `_) +* Added tests for the control interface classes (`#112 `_) +* Added note about Polyscope version requirement +* Added tcp_offset +* Added interface for forwarding script commands to the robot, that is … (`#111 `_) +* Fixed parsing of incomming packages when using rtde protocol v1 (`#114 `_) + The received rtde packages should be parsed slightly different whether we use protocol v1 or v2. +* Add codecov step (`#116 `_) +* Added humble build +* Fixed downstream test instructions +* Update atomicops.h (`#117 `_) + Fix the url in the comment regarding POSIX semaphores to fix error in the CI +* Make the read during boot depend on the frequency of the robot controller (`#102 `_) +* Ignore debian folder in check_links (`#100 `_) + Otherwise this job raises an error in the release repository. +* Support starting the driver, before the robot is booted (`#98 `_) +* Clear the queue when consumer reads from it (`#96 `_) +* Fix build with newer glibc +* Doxygen check (`#77 `_) +* Added target_frequency to RTDEClient (`#85 `_) +* Removed console_bridge dependency (`#74 `_) +* Added "On behalf of Universal Robots A/S" notice (`#81 `_) + to all files that have been created by FZI +* Always install package.xml file (`#78 `_) +* register package with ament index +* Corrected smaller doxygen errors +* Added rosdoc_lite check +* Contributors: Cory Crean, Felix Exner, Jørn Bersvendsen, Mads Holm Peters, Martin Jansa, Stefan Scherzinger, Rune Søe-Knudsen, urmahp, urmarp + 0.3.2 (2021-09-15) ------------------ * Removed console_bridge dependency (`#74 `_) From bbbae030125dd178a6ee3499a3c8c483e560ad7e Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 10 Oct 2022 16:45:07 +0200 Subject: [PATCH 16/16] 0.4.0 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index c6398e35b..071875dde 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ur_client_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.4.0 (2022-10-10) +------------------ * Initialized receive timeout and changed exception to warning (`#118 `_) * Added tests for the control interface classes (`#112 `_) * Added note about Polyscope version requirement diff --git a/package.xml b/package.xml index d8f9ce2d1..36cdc8d11 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ ur_client_library - 0.3.2 + 0.4.0 Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver. Thomas Timm Andersen Simon Rasmussen