Set keepaliveCount is deprecated

[Sohaib-Snouber]

Feature summary

Hi there,

I'm currently using the Universal Robots ROS2 driver from the humble branch and noticed that the setKeepaliveCount method is deprecated. The deprecation message suggests replacing this with a direct timeout setting method in the write commands. However, I couldn't find any such method in the current API.

sohaib@sohaib-GE75-Raider-10SF:~/ros2_ur_driver$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> ur_dashboard_msgs
Starting >>> ur_description
Finished <<< ur_description [1.88s]
Starting >>> ur_moveit_config
Finished <<< ur_moveit_config [1.72s]
Finished <<< ur_dashboard_msgs [12.3s]
Starting >>> ur_controllers
Finished <<< ur_controllers [13.4s]
Starting >>> ur_robot_driver
Starting >>> ur_bringup
Finished <<< ur_bringup [1.27s]
--- stderr: ur_robot_driver
/home/sohaib/ros2_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘virtual hardware_interface::CallbackReturn ur_robot_driver::URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State&)’:
/home/sohaib/ros2_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:432:34: warning: ‘void urcl::UrDriver::setKeepaliveCount(uint32_t)’ is deprecated: Set keepaliveCount is deprecated, instead set the robot receive timeout directly in the write commands. [-Wdeprecated-declarations]
432 | ur_driver_->setKeepaliveCount(keep_alive_count);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
In file included from /home/sohaib/ros2_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp:55,
from /home/sohaib/ros2_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:50:
/opt/ros/humble/include/ur_client_library/ur/ur_driver.h:461:3: note: declared here
461 | setKeepaliveCount(const uint32_t count);
| ^~~~~~~~~~~~~~~~~
Finished <<< ur_robot_driver [18.4s]
Starting >>> ur_calibration
Finished <<< ur_calibration [15.6s]
Starting >>> ur
Finished <<< ur [1.47s]

Could you please provide guidance on how to handle keepalive or timeout settings with the new API? Or could you update the library to include a new method for this purpose?

Thanks for your support and looking forward to your reply!

Best regards,
Sohaib

[fmauch]

Yes, we are aware of this and will update in the near future. For you as a user there's not too much to worry about at the moment as we will have to take care about that.

But thank you for bringing that up, we should probably add this to the jazzy release todos.