From 1898b86f0388aa419cc3adab575da5efe0d391ee Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 10 Oct 2025 12:15:56 +0000
Subject: [PATCH] Add an initial value for the major_version state interface

This can be used in mock hardware tests
---
 urdf/ur.ros2_control.xacro | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 8d423310..28963683 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -361,7 +361,9 @@
       </gpio>
 
         <gpio name="${tf_prefix}get_robot_software_version">
-          <state_interface name="get_version_major"/>
+          <state_interface name="get_version_major">
+            <param name="initial_value">1</param>
+          </state_interface>
           <state_interface name="get_version_minor"/>
           <state_interface name="get_version_build"/>
           <state_interface name="get_version_bugfix"/>