Merge remote-tracking branch 'origin/main' into force_mode_arguments

Author: Felix Exner

.github/workflows/update-ci.yml

@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,13 +33,13 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: ["--line-length=100"]
@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D401,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
     - id: flake8
       args: ["--ignore=E501,W503"]
@@ -69,7 +69,7 @@ repos:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -80,7 +80,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +102,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists.txt$
@@ -113,14 +113,14 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
         args: ['--exclude', 'ur_robot_driver/doc/conf.py', 'ur_calibration/doc/conf.py']
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']

README.md

@@ -1,13 +1,13 @@
 # Universal Robots ROS2 Driver
 
 Universal Robots has become a dominant supplier of lightweight, robotic manipulators for industry, as well as for scientific research and education.
-<center><img src="ur_robot_driver/doc/installation/initial_setup_images/e-Series.jpg" alt="Universal Robot e-Series family" style="width: 80%;"/></center>
+<center><img src="ur_robot_driver/doc/installation/initial_setup_images/family_photo.png" alt="Universal Robot family" style="width: 80%;"/></center>
 
 This is one of the very first ROS2 manipulator drivers. Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration. The package contains launch files to quickly get started using the driver as a standalone version or in combination with MoveIt2
 
 This driver is developed on top of [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
 
-The driver is compatible across the entire line of UR robots -- from 3 kg payload to 16 kg payload and includes both the CB3 and the E-series.
+The driver is compatible across the entire line of UR robots -- from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
 
 
 Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) about this driver.
@@ -93,6 +93,8 @@ receive no more updates and may be lacking features.
 
 Please see the [requirements for the Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library#requirements), as this driver is build on top of Universal_Robots_Client_Library.
 
+**Note**: A fundamental requirement for the driver is using Linux. Currently, there is no support for any other OS.
+
 ## Getting Started
 
 For getting started, you'll basically need three steps:

Universal_Robots_ROS2_Driver-not-released.humble.repos

@@ -10,7 +10,7 @@ repositories:
   ur_msgs:
     type: git
     url: https://github.com/ros-industrial/ur_msgs.git
-    version: foxy-devel
+    version: humble-devel
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git

Universal_Robots_ROS2_Driver-not-released.iron.repos

@@ -10,7 +10,7 @@ repositories:
   ur_msgs:
     type: git
     url: https://github.com/ros-industrial/ur_msgs.git
-    version: foxy-devel
+    version: humble-devel
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git