Commits on Oct 8, 2024

1. Service to get software version of robot (#964) …

   * Implemented get_version service
   
   * Implemented test of get_version service and integrated it with the test of tool contact
   
   * Update ur_robot_driver/test/test_common.py
   
   Co-authored-by: Felix Exner (fexner) <[email protected]>
   
   * Renamed service to "GetRobotSoftwareVersion" everywhere.
   
   Also moved the version information from being stored in the command interface to be stored in the state interface
   
   * Remove tool contact from test.
   
   * Implemented test of get_version service and integrated it with the test of tool contact
   
   * Renamed service to "GetRobotSoftwareVersion" everywhere.
   
   Also moved the version information from being stored in the command interface to be stored in the state interface
   
   * Remove tool contact from test.
   
   * Create new URConfigurationController
   
   And moved the get_robot_software_version service in to it.
   
   * Make configuration controller thread safe
   
   Also minor cleanup and add testing of the robot software version service
   
   * Use ptr-safe RealTimeBoxBestEffort
   
   the RealTimeBox used before is not really real-time safe and the way it was
   implemented there was unnecessary data allocation in both, the activate method
   and the service callback.
   
   Using the RealTimeBoxBestEffort makes allocating additional memory unnecessary
   and makes things really thread-safe.
   
   * Added back files that were mistakenly deleted
   
   (cherry picked from commit d1290a7)

   

   URJala authored and mergify[bot] committed Oct 8, 2024
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