From 3bc9a82b9f440da10cb0cf9e17e3f2dbf3005e9b Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Thu, 17 Oct 2024 14:09:40 +0200
Subject: [PATCH] Add missing state interfaces for get_robot_software_version
 (#1153)

---
 ur_robot_driver/urdf/ur.ros2_control.xacro | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
index b013ab36..9d5755f3 100644
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/ur.ros2_control.xacro
@@ -228,6 +228,13 @@
       <gpio name="${tf_prefix}system_interface">
         <state_interface name="initialized"/>
       </gpio>
+
+      <gpio name="${tf_prefix}get_robot_software_version">
+        <state_interface name="get_version_major"/>
+        <state_interface name="get_version_minor"/>
+        <state_interface name="get_version_build"/>
+        <state_interface name="get_version_bugfix"/>
+      </gpio>
     </ros2_control>
   </xacro:macro>
 </robot>