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merge humble updates #4

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7802066
Auto-update pre-commit hooks (backport of #1094)
mergify[bot] Sep 25, 2024
72087b1
Assure the description is loaded as string (backport of #1107)
mergify[bot] Oct 1, 2024
75c37f1
Auto-update pre-commit hooks (backport of #1118)
mergify[bot] Oct 7, 2024
6be649f
Service to get software version of robot (backport of #964)
mergify[bot] Oct 8, 2024
aca2a0e
Update ur_msgs upstream branch (#1126)
fmauch Oct 8, 2024
1a5c861
[moveit] Disable execution_duration_monitoring by default (#1133)
fmauch Oct 10, 2024
60b09db
README: Center family photo (backport pf #1122)
mergify[bot] Oct 16, 2024
255355d
Auto-update pre-commit hooks (backport of #1147)
mergify[bot] Oct 16, 2024
164c6bf
Merge branch 'UniversalRobots:humble' into humble
GregoryLeMasurier Oct 16, 2024
4eba9bb
Merge branch 'humble_ur5_robotiq_d435' into humble
GregoryLeMasurier Oct 16, 2024
84e371c
revert previous merge
GregoryLeMasurier Oct 16, 2024
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16 changes: 8 additions & 8 deletions .pre-commit-config.yaml
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repos:
# Standard hooks
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v3.4.0
rev: v5.0.0
hooks:
- id: check-added-large-files
- id: check-ast
Expand All @@ -33,13 +33,13 @@ repos:

# Python hooks
- repo: https://github.com/asottile/pyupgrade
rev: v2.7.2
rev: v3.18.0
hooks:
- id: pyupgrade
args: [--py36-plus]

- repo: https://github.com/psf/black
rev: 22.3.0
rev: 24.10.0
hooks:
- id: black
args: ["--line-length=100"]
Expand Down Expand Up @@ -69,7 +69,7 @@ repos:
- id: ament_cppcheck
name: ament_cppcheck
description: Static code analysis of C/C++ files.
stages: [commit]
stages: [pre-commit]
entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
language: system
files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
Expand All @@ -80,7 +80,7 @@ repos:
- id: ament_cpplint
name: ament_cpplint
description: Static code analysis of C/C++ files.
stages: [commit]
stages: [pre-commit]
entry: ament_cpplint
language: system
files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
Expand All @@ -102,7 +102,7 @@ repos:
- id: ament_lint_cmake
name: ament_lint_cmake
description: Check format of CMakeLists.txt files.
stages: [commit]
stages: [pre-commit]
entry: ament_lint_cmake
language: system
files: CMakeLists.txt$
Expand All @@ -113,14 +113,14 @@ repos:
- id: ament_copyright
name: ament_copyright
description: Check if copyright notice is available in all files.
stages: [commit]
stages: [pre-commit]
entry: ament_copyright
language: system
args: ['--exclude', 'ur_robot_driver/doc/conf.py', 'ur_calibration/doc/conf.py']

# Docs - RestructuredText hooks
- repo: https://github.com/PyCQA/doc8
rev: 0.9.0a1
rev: v1.1.2
hooks:
- id: doc8
args: ['--max-line-length=100', '--ignore=D001']
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4 changes: 2 additions & 2 deletions README.md
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# Universal Robots ROS2 Driver

Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.
<center><img src="ur_robot_driver/doc/installation/initial_setup_images/family_photo.png" alt="Universal Robot family" style="width: 80%;"/></center>
<div align="center"><img src="ur_robot_driver/doc/installation/initial_setup_images/family_photo.png" alt="Universal Robot family" style="width: 90%;"/></div>

This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2

This driver is developed on top of [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.

The driver is compatible across the entire line of UR robots -- from 3 kg payload to 16 kg payload and includes both the CB3 and the E-series.
The driver is compatible across the entire line of UR robots -- from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.


Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) about this driver.
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2 changes: 1 addition & 1 deletion Universal_Robots_ROS2_Driver.humble.repos
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Expand Up @@ -10,7 +10,7 @@ repositories:
ur_msgs:
type: git
url: https://github.com/ros-industrial/ur_msgs.git
version: foxy-devel
version: humble-devel
ros2_control:
type: git
url: https://github.com/ros-controls/ros2_control.git
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142 changes: 142 additions & 0 deletions ci_status.md
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# Build Status

This page gives a detailed overview of the build status of this repository. Please note that due to
upstream changes some pipelines might turn red temporarily which can be expected behavior. For each
red pipeline there should be a corresponding issue labeled with [ci-failure](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues?q=is%3Aissue+is%3Aopen+label%3Aci-failure).

<table width="100%">
<tr>
<th>Humble</th>
<th>Iron</th>
<th>Jazzy</th>
<th>Rolling</th>
</tr>
<tr>
<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble">humble</a></td>
<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/iron">iron</a></td>
<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
</tr>
<tr>
<td> <!-- humble -->
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml/badge.svg?event=schedule"
alt="Humble Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml/badge.svg?event=schedule"
alt="Humble Binary Testing"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml/badge.svg?event=schedule"
alt="Humble Semi-Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml/badge.svg?event=schedule"
alt="Humble Semi-Binary Testing"/>
</a>
</td>
<td> <!-- iron -->
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-binary-main.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-binary-main.yml/badge.svg?event=schedule"
alt="Iron Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-binary-testing.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-binary-testing.yml/badge.svg?event=schedule"
alt="Iron Binary Testing"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-semi-binary-main.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-semi-binary-main.yml/badge.svg?event=schedule"
alt="Iron Semi-Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-semi-binary-testing.yml?query=event%3Aschedule++">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/iron-semi-binary-testing.yml/badge.svg?event=schedule"
alt="Iron Semi-Binary Testing"/>
</a>
</td>
<td> <!-- jazzy -->
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-binary-main.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-binary-main.yml/badge.svg?branch=main"
alt="Jazzy Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-binary-testing.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-binary-testing.yml/badge.svg?branch=main"
alt="Jazzy Binary Testing"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-semi-binary-main.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-semi-binary-main.yml/badge.svg?branch=main"
alt="Jazzy Semi-Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-semi-binary-testing.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/jazzy-semi-binary-testing.yml/badge.svg?branch=main"
alt="Jazzy Semi-Binary Testing"/>
</a>
</td>
<td> <!-- rolling -->
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml/badge.svg?branch=main"
alt="Rolling Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml/badge.svg?branch=main"
alt="Rolling Binary Testing"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml/badge.svg?branch=main"
alt="Rolling Semi-Binary Main"/>
</a> <br />
<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml?query=branch%3Amain+">
<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml/badge.svg?branch=main"
alt="Rolling Semi-Binary Testing"/>
</a>
</td>
</tr>
<tr>
<td> <!-- humble -->
<a href='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_calibration'></a><br/>
<a href='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_controllers'></a>
<a href='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_dashboard_msgs'></a>
<a href='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_moveit_config'></a>
<a href='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_robot_driver'></a>
</td>
<td> <!-- iron -->
<a href='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_calibration'></a><br/>
<a href='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_controllers'></a>
<a href='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_dashboard_msgs'></a>
<a href='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_moveit_config'></a>
<a href='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=uJ64_ur_robot_driver'></a>
</td>
<td> <!-- jazzy -->
<a href='https://build.ros2.org/job/Jbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_calibration'></a><br/>
<a href='https://build.ros2.org/job/Jbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_controllers'></a>
<a href='https://build.ros2.org/job/Jbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_dashboard_msgs'></a>
<a href='https://build.ros2.org/job/Jbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_moveit_config'></a>
<a href='https://build.ros2.org/job/Jbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Jbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_robot_driver'></a>
</td>
<td> <!-- rolling -->
<a href='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_calibration__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_calibration'></a><br/>
<a href='https://build.ros2.org/job/Rbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_controllers__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_controllers'></a>
<a href='https://build.ros2.org/job/Rbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_dashboard_msgs__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_dashboard_msgs'></a>
<a href='https://build.ros2.org/job/Rbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_moveit_config__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_moveit_config'></a>
<a href='https://build.ros2.org/job/Rbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uN64__ur_robot_driver__ubuntu_noble_amd64__binary/badge/icon?subject=uN64_ur_robot_driver'></a>
</td>
</tr>
</table>

**NOTE**: There are two build stages checking current and future compatibility of the driver.

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that
direct local build is possible and integration tests work against the released state.

Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.<ros-distro>.repos`

1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
Shows that local build with dependencies is possible and if this fails we can expect that after the next package sync we will not be able to build.

Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.repos`

Each of these stages also performs integration tests using ursim. In order to execute these tests locally, they have to be enabled:

```
colcon build --packages-select ur_robot_driver --cmake-args -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=On
```
3 changes: 3 additions & 0 deletions ur/CHANGELOG.rst
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Changelog for package ur
^^^^^^^^^^^^^^^^^^^^^^^^

2.2.15 (2024-07-26)
-------------------

2.2.14 (2024-07-01)
-------------------

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<?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>2.2.14</version>
<version>2.2.15</version>
<description>Metapackage for universal robots</description>
<maintainer email="[email protected]">Felix Exner</maintainer>
<maintainer email="[email protected]">Robert Wilbrandt</maintainer>
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3 changes: 3 additions & 0 deletions ur_bringup/CHANGELOG.rst
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Changelog for package ur_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.2.15 (2024-07-26)
-------------------

2.2.14 (2024-07-01)
-------------------

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ur_bringup</name>
<version>2.2.14</version>
<version>2.2.15</version>
<description>Launch file and run-time configurations, e.g. controllers.</description>

<maintainer email="[email protected]">Denis Stogl</maintainer>
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3 changes: 3 additions & 0 deletions ur_calibration/CHANGELOG.rst
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Changelog for package ur_calibration
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.2.15 (2024-07-26)
-------------------

2.2.14 (2024-07-01)
-------------------

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<?xml version="1.0"?>
<package format="2">
<name>ur_calibration</name>
<version>2.2.14</version>
<version>2.2.15</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="[email protected]">Felix Exner</maintainer>
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5 changes: 5 additions & 0 deletions ur_controllers/CHANGELOG.rst
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Changelog for package ur_controllers
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.2.15 (2024-07-26)
-------------------
* Updated scaled JTC to latest upstream updates (`#1067 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1067>`_)
* Contributors: Felix Exner (fexner)

2.2.14 (2024-07-01)
-------------------

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9 changes: 8 additions & 1 deletion ur_controllers/CMakeLists.txt
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Expand Up @@ -54,10 +54,16 @@ generate_parameter_library(
src/scaled_joint_trajectory_controller_parameters.yaml
)

generate_parameter_library(
ur_configuration_controller_parameters
src/ur_configuration_controller_parameters.yaml
)

add_library(${PROJECT_NAME} SHARED
src/scaled_joint_trajectory_controller.cpp
src/speed_scaling_state_broadcaster.cpp
src/gpio_controller.cpp)
src/gpio_controller.cpp
src/ur_configuration_controller.cpp)

target_include_directories(${PROJECT_NAME} PRIVATE
include
Expand All @@ -66,6 +72,7 @@ target_link_libraries(${PROJECT_NAME}
gpio_controller_parameters
speed_scaling_state_broadcaster_parameters
scaled_joint_trajectory_controller_parameters
ur_configuration_controller_parameters
)
ament_target_dependencies(${PROJECT_NAME}
${THIS_PACKAGE_INCLUDE_DEPENDS}
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This controller publishes the Tool IO.
</description>
</class>
<class name="ur_controllers/URConfigurationController" type="ur_controllers::URConfigurationController" base_class_type="controller_interface::ControllerInterface">
<description>
Controller used to get and change the configuration of the robot
</description>
</class>
</library>
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