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Use enable_external_ft_sensor on old software versions #395

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Merged
merged 1 commit into from
Oct 22, 2025
Merged

Use enable_external_ft_sensor on old software versions #395

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14 changes: 14 additions & 0 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -803,7 +803,21 @@ thread script_commands():
str_cat(sensor_mass, str_cat(", ",
str_cat(to_str(sensor_offset), str_cat(", ",
str_cat(to_str(sensor_cog), ")"))))))))
{% if ROBOT_SOFTWARE_VERSION >= v5.9.1 %}
ft_rtde_input_enable(enabled, sensor_mass, sensor_offset, sensor_cog)
{% elif ROBOT_SOFTWARE_VERSION < v5.0.0 %}
{% if ROBOT_SOFTWARE_VERSION >= v3.14.1 %}
ft_rtde_input_enable(enabled, sensor_mass, sensor_offset, sensor_cog)
{% else %}
# PolyScope earlier than 3.14.1
# This has a known error that the resulting torques are computed with opposite sign.
enable_external_ft_sensor(enabled, sensor_mass, sensor_offset, sensor_cog)
{% endif %}
{% else %}
# PolyScope 5.0.0 - 5.9.0
# This has a known error that the resulting torques are computed with opposite sign.
enable_external_ft_sensor(enabled, sensor_mass, sensor_offset, sensor_cog)
{% endif %}
end
end
end
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45 changes: 44 additions & 1 deletion tests/test_script_reader.cpp
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Expand Up @@ -33,6 +33,8 @@
#include <gtest/gtest.h>
#include "ur_client_library/control/script_reader.h"
#include "ur_client_library/ur/version_information.h"
#include "ur_client_library/control/reverse_interface.h"
#include "ur_client_library/control/trajectory_point_interface.h"

#include <fstream>

Expand Down Expand Up @@ -446,4 +448,45 @@ TEST_F(ScriptReaderTest, Example)
processed_script = reader.readScriptFile(existing_script_file, data);
expected_script = " textmsg(\"torque control is a very cool feature!\")";
EXPECT_EQ(processed_script, expected_script);
}
}

TEST_F(ScriptReaderTest, TestParsingExternalControl)
{
std::string existing_script_file = "../resources/external_control.urscript";

ScriptReader reader;
ScriptReader::DataDict data;
data["BEGIN_REPLACE"] = "";
data["JOINT_STATE_REPLACE"] = std::to_string(urcl::control::ReverseInterface::MULT_JOINTSTATE);
data["TIME_REPLACE"] = std::to_string(urcl::control::TrajectoryPointInterface::MULT_TIME);
data["SERVO_J_REPLACE"] = "lookahead_time=0.03, gain=2000";
data["SERVER_IP_REPLACE"] = "1.2.3.4";
data["SERVER_PORT_REPLACE"] = "50001";
data["TRAJECTORY_SERVER_PORT_REPLACE"] = "50003";
data["SCRIPT_COMMAND_SERVER_PORT_REPLACE"] = "50004";

data["ROBOT_SOFTWARE_VERSION"] = urcl::VersionInformation::fromString("3.12.1");
std::string processed_script = reader.readScriptFile(existing_script_file, data);
std::string expected_pattern = "enable_external_ft_sensor(enabled, sensor_mass, sensor_offset, sensor_cog)";
EXPECT_NE(processed_script.find(expected_pattern), std::string::npos);

data["ROBOT_SOFTWARE_VERSION"] = urcl::VersionInformation::fromString("5.8.0");
processed_script = reader.readScriptFile(existing_script_file, data);
expected_pattern = "enable_external_ft_sensor(enabled, sensor_mass, sensor_offset, sensor_cog)";
EXPECT_NE(processed_script.find(expected_pattern), std::string::npos);

data["ROBOT_SOFTWARE_VERSION"] = urcl::VersionInformation::fromString("3.14.1");
processed_script = reader.readScriptFile(existing_script_file, data);
expected_pattern = "ft_rtde_input_enable(enabled, sensor_mass, sensor_offset, sensor_cog)";
EXPECT_NE(processed_script.find(expected_pattern), std::string::npos);

data["ROBOT_SOFTWARE_VERSION"] = urcl::VersionInformation::fromString("5.9.1");
processed_script = reader.readScriptFile(existing_script_file, data);
expected_pattern = "ft_rtde_input_enable(enabled, sensor_mass, sensor_offset, sensor_cog)";
EXPECT_NE(processed_script.find(expected_pattern), std::string::npos);

data["ROBOT_SOFTWARE_VERSION"] = urcl::VersionInformation::fromString("10.7.0");
processed_script = reader.readScriptFile(existing_script_file, data);
expected_pattern = "ft_rtde_input_enable(enabled, sensor_mass, sensor_offset, sensor_cog)";
EXPECT_NE(processed_script.find(expected_pattern), std::string::npos);
}
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