Service to get software version of robot #964

URJala · 2024-04-11T08:58:29Z

This PR implements a service to get the software version of the robot (useful for certain functionalities, for example tool contact can only work on e-series robots). This PR depends on PR for functionality and PR for the tests to work.

fmauch

I think we should come up with a better name than "GetVersion" in the message, the code and the interfaces. I proposed get_robot_software_version at some point, but maybe get_polyscope_version might also be good. What do you think @URJala @VinDp @urrsk ?

ur_robot_driver/urdf/ur.ros2_control.xacro

ur_robot_driver/test/test_common.py

fmauch · 2024-06-17T09:39:06Z

ur_robot_driver/test/robot_driver.py

+    def test_tool_contact(self, tf_prefix):
+        if self._io_status_controller_interface.get_version().major < 5:
+            start_result = self._io_status_controller_interface.start_tool_contact()
+            self.assertEqual(start_result.success, False)
+
+            end_result = self._io_status_controller_interface.end_tool_contact()
+            self.assertEqual(end_result.success, False)
+        else:
+            start_result = self._io_status_controller_interface.start_tool_contact()
+            self.assertEqual(start_result.success, True)
+
+            end_result = self._io_status_controller_interface.end_tool_contact()
+            self.assertEqual(end_result.success, True)
+


This doesn't seem like it belongs here.

This is a re-implementation of the tool contact test, so it will work on all versions of the robot. The one included in the Tool contact PR will only work on e-series robots, as it cannot see the robot's software version, and tool contact can only be used on e-series robots.
I could move this to it's own pull request if that makes more sense? I agree that it probably doesn't quite fit in here.

@fmauch I have removed the tool contact parts from both pull requests now. I will make a new PR to add the tests back when this has been merged.

ur_controllers/include/ur_controllers/gpio_controller.hpp

fmauch · 2024-07-09T10:37:18Z

ur_robot_driver/doc/migration/jazzy.rst

This looks like it got in here accitentally

fmauch · 2024-07-09T10:37:36Z

ur_moveit_config/launch/ur_moveit.launch.py

I think this got in here accidentally.

fmauch

This is definitively going in the right direction!

ur_controllers/src/gpio_controller.cpp

ur_controllers/src/ur_configuration_controller.cpp

ur_controllers/include/ur_controllers/ur_configuration_controller.hpp

ur_controllers/src/ur_configuration_controller.cpp

fmauch · 2024-07-16T10:46:23Z

ur_controllers/src/ur_configuration_controller_parameters.yaml

+   tf_prefix: {
+    type: string,
+    default_value: "",
+    description: "Urdf prefix of the corresponding arm"


Suggested change

description: "Urdf prefix of the corresponding arm"

description: "URDF prefix of the corresponding arm"

fmauch · 2024-07-16T10:46:50Z

ur_robot_driver/doc/migration/jazzy.rst

This should not go into this PR I guess.

ur_robot_driver/test/robot_driver.py

fmauch

I've changed the RealTimeBox with RealTimeBoxBestEffort. Apart from that, please see my other comments / requests.

fmauch · 2024-07-29T14:35:21Z

ur_moveit_config/launch/ur_moveit.launch.py

This file should not get removed by this PR. Please fix that.

fmauch · 2024-07-29T14:35:42Z

ur_robot_driver/doc/migration/jazzy.rst

This file should not get removed by this PR. Please fix that.

…st of tool contact

Co-authored-by: Felix Exner (fexner) <[email protected]>

Also moved the version information from being stored in the command interface to be stored in the state interface

…st of tool contact

Also moved the version information from being stored in the command interface to be stored in the state interface

And moved the get_robot_software_version service in to it.

Also minor cleanup and add testing of the robot software version service

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.

fmauch

This looks good to me. I'll merge this together with the message update.

* 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)

* 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

URJala mentioned this pull request Apr 11, 2024

Added service to enable and disable tool contact #940

Open

fmauch self-requested a review May 16, 2024 09:13

fmauch force-pushed the get_version branch from 1f4c778 to 0585800 Compare June 13, 2024 11:52

fmauch reviewed Jun 17, 2024

View reviewed changes

fmauch assigned URJala Jun 17, 2024

fmauch mentioned this pull request Jun 17, 2024

Added service for software version of robot. ros-industrial/ur_msgs#25

Merged

fmauch requested changes Jul 9, 2024

View reviewed changes

URJala force-pushed the get_version branch from 577cfec to bac64ae Compare July 11, 2024 07:54

URJala requested a review from fmauch July 11, 2024 13:23

fmauch requested changes Jul 16, 2024

View reviewed changes

URJala force-pushed the get_version branch from 2d70a9b to 769f476 Compare July 16, 2024 14:05

fmauch requested changes Jul 29, 2024

View reviewed changes

URJala and others added 11 commits August 23, 2024 10:02

Implemented get_version service

5079a9d

Implemented test of get_version service and integrated it with the te…

06b3345

…st of tool contact

Update ur_robot_driver/test/test_common.py

eee260c

Co-authored-by: Felix Exner (fexner) <[email protected]>

Renamed service to "GetRobotSoftwareVersion" everywhere.

f4ca63b

Also moved the version information from being stored in the command interface to be stored in the state interface

Remove tool contact from test.

da81a68

Implemented test of get_version service and integrated it with the te…

91b61b3

…st of tool contact

Renamed service to "GetRobotSoftwareVersion" everywhere.

392fffe

Also moved the version information from being stored in the command interface to be stored in the state interface

Remove tool contact from test.

d25981b

Create new URConfigurationController

38c4528

And moved the get_robot_software_version service in to it.

Make configuration controller thread safe

aef9dc5

Also minor cleanup and add testing of the robot software version service

URJala force-pushed the get_version branch from c431464 to 91cf2d4 Compare August 23, 2024 00:02

Added back files that were mistakenly deleted

dbb495f

fmauch approved these changes Sep 3, 2024

View reviewed changes

fmauch added 3 commits September 3, 2024 13:15

Merge branch 'main' into get_version

4294aa7

Merge branch 'main' into get_version

b6ff42a

Merge branch 'main' into get_version

62a4293

fmauch added the backport-humble label Oct 8, 2024

fmauch added the backport-iron label Oct 8, 2024

fmauch merged commit d1290a7 into UniversalRobots:main Oct 8, 2024
6 of 11 checks passed

This was referenced Oct 8, 2024

Service to get software version of robot (backport #964) #1127

Merged

Service to get software version of robot (backport #964) #1128

Merged

fmauch mentioned this pull request Oct 14, 2024

Add missing state interfaces for get_robot_software_version #1153

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Service to get software version of robot #964

Service to get software version of robot #964

URJala commented Apr 11, 2024

fmauch left a comment

fmauch Jun 17, 2024

URJala Jul 1, 2024

URJala Jul 4, 2024

fmauch Jul 9, 2024

fmauch Jul 9, 2024

fmauch left a comment

fmauch Jul 16, 2024

fmauch Jul 16, 2024

fmauch left a comment

fmauch Jul 29, 2024

fmauch Jul 29, 2024

fmauch left a comment

	description: "Urdf prefix of the corresponding arm"
	description: "URDF prefix of the corresponding arm"

Service to get software version of robot #964

Service to get software version of robot #964

Conversation

URJala commented Apr 11, 2024

fmauch left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

fmauch left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

fmauch left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

fmauch left a comment

Choose a reason for hiding this comment