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Merge branch 'main' into fix_semi_binary_builds
2 parents 7d890eb + cfd5984 commit 5b55529

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‎.pre-commit-config.yaml‎

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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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args: ["--linelength=120"]
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- repo: local
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: 'v20.1.6'
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hooks:
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- id: clang-format
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name: clang-format
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description: Format files with ClangFormat.
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entry: clang-format-14
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language: system
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ['-fallback-style=none', '-i']
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# Cmake hooks
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- repo: local
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: v1.1.2
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rev: v2.0.0
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hooks:
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- id: doc8
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args: ['--max-line-length=100', '--ignore=D001']

‎ur/CHANGELOG.rst‎

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Changelog for package ur
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^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.3 (2025-06-16)
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------------------
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4.0.2 (2025-06-13)
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------------------
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4.0.1 (2025-05-28)
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------------------
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‎ur/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ur</name>
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<version>4.0.1</version>
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<version>4.0.3</version>
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<description>Metapackage for universal robots</description>
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<maintainer email="[email protected]">Felix Exner</maintainer>
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<maintainer email="[email protected]">Rune Søe-Knudsen</maintainer>

‎ur_calibration/CHANGELOG.rst‎

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Changelog for package ur_calibration
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.3 (2025-06-16)
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------------------
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4.0.2 (2025-06-13)
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------------------
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4.0.1 (2025-05-28)
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------------------
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* Replace ament_target_dependencies calls (`#1373 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1373>`_)

‎ur_calibration/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>ur_calibration</name>
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<version>4.0.1</version>
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<version>4.0.3</version>
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<description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
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<maintainer email="[email protected]">Felix Exner</maintainer>

‎ur_controllers/CHANGELOG.rst‎

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Changelog for package ur_controllers
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.3 (2025-06-16)
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------------------
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* Ignore RT-Tools deprecation warning about trylock
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* Contributors: Felix Exner
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4.0.2 (2025-06-13)
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------------------
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* Ignore deprecation warning for set_gains for now (`#1392 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1392>`_)
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* Use std_atomic<bool> in SJTC (`#1385 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1385>`_)
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* Contributors: Felix Exner
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4.0.1 (2025-05-28)
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------------------
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* [force mode controller] Fix the task frame orientation (`#1379 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1379>`_)

‎ur_controllers/CMakeLists.txt‎

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@@ -4,6 +4,7 @@ project(ur_controllers)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra)
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endif()
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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find_package(ament_cmake REQUIRED)
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find_package(angles REQUIRED)
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tf2_ros::tf2_ros
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)
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target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror)
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endif()
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# prevent pluginlib from using boost
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target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

‎ur_controllers/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ur_controllers</name>
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<version>4.0.1</version>
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<version>4.0.3</version>
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<description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
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<maintainer email="[email protected]">Felix Exner</maintainer>

‎ur_controllers/src/scaled_joint_trajectory_controller.cpp‎

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}
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// TODO(fmauch): Remove once merged upstream
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
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if (state_publisher_->trylock()) {
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state_publisher_->msg_.speed_scaling_factor = scaling_factor_;
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state_publisher_->unlock();
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}
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#pragma GCC diagnostic pop
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// end remove once merged upstream
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publish_state(time, state_desired_, state_current_, state_error_);
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const auto& gains = params_.gains.joints_map.at(params_.joints.at(map_cmd_to_joints_[i]));
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if (pids_[i]) {
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// update PIDs with gains from ROS parameters
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
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pids_[i]->set_gains(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);
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#pragma GCC diagnostic pop
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} else {
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// Init PIDs with gains from ROS parameters
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pids_[i] = std::make_shared<control_toolbox::Pid>(gains.p, gains.i, gains.d, gains.i_clamp, -gains.i_clamp);

‎ur_dashboard_msgs/CHANGELOG.rst‎

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Changelog for package ur_dashboard_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.0.3 (2025-06-16)
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------------------
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4.0.2 (2025-06-13)
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------------------
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4.0.1 (2025-05-28)
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