What's Changed

Bugfixes

• Succeed power on command on PolyScope 5 when robot is running by @urfeex in #397
• RTDEClient sendStart handle missed confirmation by @urfeex in #403

New features

• Save polyscope folder in local filesystem by @urfeex in #399
• Add bit for 3PE stoppage to UrRtdeSafetyStatusBits by @acmorrow in #401

CI/ Repo / Packages

• Bump actions/upload-artifact from 4 to 5 by @dependabot[bot] in #398

Full Changelog: 2.5.0...2.6.0

What's Changed

Bugfixes

• Fixed auto reconnection to the RTDE server. by @urmahp in #384

New features

• Allow an empty input recipe to the RTDE client by @urfeex in #318
• Rtde external ft by @urfeex in #388
• Polyscopex dashboard client by @urfeex in #392

CI/ Repo / Packages

• Refactor Rtde client test by @URJala in #389

Full Changelog: 2.4.0...2.5.0

This is a big one. The main new features are the support for the new UR18 and support for direct torque control.

What's Changed

New features

• Update RTDE list to include new fields by @URJala in #380
• Direct torque control by @urfeex in #381
• UR18 support by @urfeex in #387

Bugfixes

• Add const qualifier to get functions and changed map value retrieval to at() function by @PabloDArandaR in #379
• Set force mode parameters from config by @domire8 in #383
• Remove bit_registers_0...63 from RTDE list by @URJala in #385

New Contributors

• @PabloDArandaR made their first contribution in #379

Full Changelog: 2.3.0...2.4.0

New Features

• Add possibility to register multiple callbacks to ReverseInterface and TrajectoryPointInterface by @urfeex in #359
• Add support for UR8 LONG by @urfeex in #375

Bugfixes

• Install endian header on Windows and Apple only by @urfeex in #372

Documentation

• Change ubuntu manpage link from bionic to noble by @urfeex in #374

CI / Repo / Package

• Bump actions/checkout from 4 to 5 by @dependabot[bot] in #371
• Bump actions/setup-python from 5 to 6 by @dependabot[bot] in #373

Full Changelog: 2.2.0...2.3.0

New Features

• Support optimove motions in InstructionExecutor by @urfeex in #354

Bugfixes

• Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 by @urfeex in #350

Other changes

• Join thread_move instead of killing it by @urfeex in #349
• Initialize ReverseInterface with a config struct by @urfeex in #351
• Remove SDK version mapping by @urfeex in #355
• Remove print statement when executing optimovel primitives by @urfeex in #365

Full Changelog: 2.1.0...2.2.0

New features

• Support PolyScopeX simulator for 10.8.0 by @urfeex in #315
• Added configuration data to packages parsed from the primary interface by @urmahp in #327
• Add new robot types to URSim startup script by @urfeex in #331
• Add ScriptReader for script template parsing by @urfeex in #343

Bugfixes

• Fix robot message type POPUP by @urfeex in #335
• Stop control, when UrDriver object is destroyed by @urmahp in #338
• Install endian.h and add that to the target include directories... by @urfeex in #345
• Minimal support for building on macOS by @acmorrow in #341

Documentation

• Update documentation by @urfeex in #309
• Add an API reference page to the docs by @urfeex in #314
• Fix the image sizes in architecture section by @urfeex in #321
• readme: load ROSin imgs from press_kit repository by @gavanderhoorn in #334

CI / Repo / package

• Update ROS distributions for industrial_ci by @urfeex in #317
• Check links using lychee by @urfeex in #319
• Correct message sum in test_tool_contact by @urmahp in #324
• Disable checking links for two broken ones by @urfeex in #333
• Fix driver branch for Jazzy downstream build by @urfeex in #339
• Add more tests for VersionInformation by @urfeex in #344

New Contributors

• @acmorrow made their first contribution in #341

Full Changelog: 2.0.0...2.1.0

This is a major release of the client library. That means that there are a couple of API-breaking changes in the library. See the migration notes for details. Most changes should not affect users.

Breaking changes

• Fix naming issues by @urfeex in #307
  • In the urcl::ExampleRobotWrapper class the ur_driver_, dashboard_client and
    primary_client members are now private. Use getUrDriver(), getDashboardClient() and
    getPrimaryClient() to access them.
  • In urcl::comm::ControlModeTypes two member functions have been renamed:
    • is_control_mode_realtime -> isControlModeRealtime
    • is_control_mode_non_realtime -> isControlModeNonRealtime
  • In urcl::RobotReceiveTimeout the timeout_ member is now private. Use
    getAsMilliseconds() to access it.
  • In urcl::UrDriverConfiguration two members have been renamed:
    • rtde_initialization_attempts_ -> rtde_initialization_attempts
    • rtde_initialization_timeout_ -> rtde_initialization_timeout
• #303 updated the communication protocol on the trajectory point interface. If you have been implementing a custom client for that protocol or you have a custom URScript implementing the protocol, please look at the updated documentation.

New features

• [start_ursim.sh] Always download and install the latest URCap(X) if not present by @urfeex in #301
• Add functionality to send MoveP and MoveC instructions to the robot by @urfeex in #303

Bugfixes

• [start_ursim.sh] Use direct web pages instead of GitHub API by @urfeex in #308

Documentation

• Document robot setup for PolyScope X by @urfeex in #302
• Fix typo in freedrive example document by @xndcn in #304

CI / repo / package

• Polyscope x integration tests by @urfeex in #295
• Bump bats-core/bats-action from 3.0.0 to 3.0.1 by @dependabot in #300
• Add more tests for start_ursim.sh by @urfeex in #305

New Contributors

• @xndcn made their first contribution in #304

Full Changelog: 1.9.0...2.0.0

New features

• Primary client power on by @urfeex in #289
• PrimaryClient: Add methods to unlock protective stop and stop the program by @urfeex in #292
• Make start_ursim.sh support polyscopex by @urfeex in #294

Bugfixes

• Do not print a warning when querying the dashboard server for a running program by @urfeex in #287
• add missing headers by @razr in #290
• Try catch RTDE setup by @domire8 in #285

CI / repo / package

• Set increased timeout in dashboard client test by @urfeex in #293
• Reduce usage of dashboard client in tests and examples by @urfeex in #296

New Contributors

• @razr made their first contribution in #290
• @domire8 made their first contribution in #285

Full Changelog: 1.8.0...1.9.0

New features

• instruction_executor: Allow canceling an instruction by @urfeex in #281
• Remove direct primary and secondary stream from UrDriver by @urfeex in #283

Bugfixes

• Fix buffer order of acceleration and velocity by @urfeex in #279

Documentation

--

CI / repo / package

• Build on Windows by @vdm-dev in #229
• instruction_executor: fix movel test by @urfeex in #280
• Add an explicit CMake option to turn on/off integration tests by @urfeex in #282
• Configure gcovr to ignore negative hits as errors by @urfeex in #284
• Remove unused variables by @urfeex in #288

New Contributors

• @vdm-dev made their first contribution in #229

Full Changelog: 1.7.1...1.8.0

Bugfixes

• In servo mode always allow targets close to current pose by @urfeex in #273
• Remove sending an idle command in quintic spline test by @urfeex in #275
• Fix trajectory result in trajectory forward mode when no trajectory is running by @urfeex in #276

Full Changelog: 1.7.0...1.7.1