2.0.0

This is a major release of the client library. That means that there are a couple of API-breaking changes in the library. See the migration notes for details. Most changes should not affect users.

Breaking changes

• Fix naming issues by @urfeex in #307
  • In the urcl::ExampleRobotWrapper class the ur_driver_, dashboard_client and
    primary_client members are now private. Use getUrDriver(), getDashboardClient() and
    getPrimaryClient() to access them.
  • In urcl::comm::ControlModeTypes two member functions have been renamed:
    • is_control_mode_realtime -> isControlModeRealtime
    • is_control_mode_non_realtime -> isControlModeNonRealtime
  • In urcl::RobotReceiveTimeout the timeout_ member is now private. Use
    getAsMilliseconds() to access it.
  • In urcl::UrDriverConfiguration two members have been renamed:
    • rtde_initialization_attempts_ -> rtde_initialization_attempts
    • rtde_initialization_timeout_ -> rtde_initialization_timeout
• #303 updated the communication protocol on the trajectory point interface. If you have been implementing a custom client for that protocol or you have a custom URScript implementing the protocol, please look at the updated documentation.

New features

• [start_ursim.sh] Always download and install the latest URCap(X) if not present by @urfeex in #301
• Add functionality to send MoveP and MoveC instructions to the robot by @urfeex in #303

Bugfixes

• [start_ursim.sh] Use direct web pages instead of GitHub API by @urfeex in #308

Documentation

• Document robot setup for PolyScope X by @urfeex in #302
• Fix typo in freedrive example document by @xndcn in #304

CI / repo / package

• Polyscope x integration tests by @urfeex in #295
• Bump bats-core/bats-action from 3.0.0 to 3.0.1 by @dependabot in #300
• Add more tests for start_ursim.sh by @urfeex in #305

New Contributors

• @xndcn made their first contribution in #304

Full Changelog: 1.9.0...2.0.0