Add torque_command statement only on supported software versions

Author: urfeex

resources/external_control.urscript

@@ -270,7 +270,17 @@ 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 < v6.0.0 %}
     torque_command(torque, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
+    torque_command(torque, friction_comp=friction_compensation_enabled)
+      {% else %}
+    popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
+      {% endif %}
+    {% else %}
+    popup("Torque control is only supported from software 5.23.0 and upwards.", error=True, blocking=True)
+    {% endif %}
   end
   textmsg("ExternalControl: torque thread ended")
   stopj(STOPJ_ACCELERATION)
@@ -680,7 +690,17 @@ thread PDControlThread():
     local q_err = cmd_servo_q - get_actual_joint_positions()
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
+    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
+      {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
+    torque_command(tau, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
     torque_command(tau, friction_comp=friction_compensation_enabled)
+      {% else %}
+    popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
+      {% endif %}
+    {% else %}
+    popup("Torque control is only supported from software 5.23.0 and upwards.", error=True, blocking=True)
+    {% endif %}
   end 
   textmsg("PD Control thread ended")
   stopj(STOPJ_ACCELERATION)

src/ur/ur_driver.cpp

@@ -154,6 +154,8 @@ void UrDriver::init(const UrDriverConfiguration& config)
   max_torques_ss << control::getMaxTorquesFromRobotType(robot_type);
   data[MAX_JOINT_TORQUE_REPLACE] = max_torques_ss.str();
 
+  data["ROBOT_SOFTWARE_VERSION"] = getVersion();
+
   script_reader_.reset(new control::ScriptReader());
   std::string prog = script_reader_->readScriptFile(config.script_file, data);