REVERT_ME: Switch version checks to 5.22.0 as that't the beta version

Without this, the features will not work for beta users. Once 5.23.0 is
released, we revert this commit to get the correct feature check.

Author: urfeex

examples/pd_controller_example.cpp

@@ -187,7 +187,7 @@ int main(int argc, char* argv[])
 
   {
     auto robot_version = g_my_robot->getUrDriver()->getVersion();
-    if (robot_version < urcl::VersionInformation::fromString("5.23.0") ||
+    if (robot_version < urcl::VersionInformation::fromString("5.22.0") ||  // ToDo: Increase to 5.23.0 once released
         (robot_version.major > 5 && robot_version < urcl::VersionInformation::fromString("10.10.0")))
     {
       URCL_LOG_ERROR("This example requires a robot with at least version 5.23.0 / 10.10.0. Your robot has version %s.",

examples/torque_control.cpp

@@ -67,7 +67,8 @@ int main(int argc, char* argv[])
   // software versions.
   {
     auto robot_version = g_my_robot->getUrDriver()->getVersion();
-    if (robot_version < urcl::VersionInformation::fromString("5.23.0") ||
+    // ToDo: Increase to 5.23.0 once released
+    if (robot_version < urcl::VersionInformation::fromString("5.22.0") ||
         (robot_version.major > 5 && robot_version < urcl::VersionInformation::fromString("10.10.0")))
     {
       URCL_LOG_ERROR("This example requires a robot with at least version 5.23.0 / 10.10.0. Your robot has version %s.",

resources/external_control.urscript

@@ -270,7 +270,7 @@ thread torqueThread():
   textmsg("ExternalControl: Starting torque thread")
   while control_mode == MODE_TORQUE:
     torque = cmd_torque
-    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
+    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
     torque_command(torque, friction_comp=friction_compensation_enabled)
       {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
@@ -688,7 +688,7 @@ end
 thread PDControlThread():
   while control_mode == MODE_PD_CONTROLLER_JOINT or control_mode == MODE_PD_CONTROLLER_TASK: 
     local q_err = cmd_servo_q - get_actual_joint_positions()
-    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
+    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)

src/control/script_command_interface.cpp

@@ -228,7 +228,8 @@ bool ScriptCommandInterface::endToolContact()
 
 bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compensation_enabled)
 {
-  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
+  // ToDo: Increase to 5.23.0 once released
+  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
                                     urcl::VersionInformation::fromString("10.10.0"), __func__);
   const int message_length = 2;
   uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
@@ -253,7 +254,8 @@ bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compens
 
 bool ScriptCommandInterface::setPDControllerGains(const urcl::vector6d_t* kp, const urcl::vector6d_t* kd)
 {
-  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
+  // ToDo: Increase to 5.23.0 once released
+  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
                                     urcl::VersionInformation::fromString("10.10.0"), __func__);
   const int message_length = 13;
   uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
@@ -287,7 +289,8 @@ bool ScriptCommandInterface::setPDControllerGains(const urcl::vector6d_t* kp, co
 
 bool ScriptCommandInterface::setMaxJointTorques(const urcl::vector6d_t* max_joint_torques)
 {
-  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
+  // ToDo: Increase to 5.23.0 once released
+  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
                                     urcl::VersionInformation::fromString("10.10.0"), __func__);
   const int message_length = 7;
   uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];