Merge branch 'main' into tool_contact

Author: URJala

ur/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.0 (2025-03-05)
+------------------
+
 3.0.2 (2025-01-21)
 ------------------
 

ur/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur</name>
-  <version>3.0.2</version>
+  <version>3.1.0</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Rune Søe-Knudsen</maintainer>

ur_calibration/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.0 (2025-03-05)
+------------------
+
 3.0.2 (2025-01-21)
 ------------------
 

ur_calibration/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>3.0.2</version>
+  <version>3.1.0</version>
   <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>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

ur_controllers/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.0 (2025-03-05)
+------------------
+* ur_controllers: doc -- Fix link to index page of driver (`#1284 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1284>`_)
+* Update computeCommand to compute_command (`#1265 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1265>`_)
+* Apply renaming of member variables of JTC (`#1275 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1275>`_)
+* Contributors: Christoph Fröhlich, Felix Exner
+
 3.0.2 (2025-01-21)
 ------------------
 * Remove all build warnings (`#1233 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1233>`_)

ur_controllers/CMakeLists.txt

@@ -119,7 +119,7 @@ ament_target_dependencies(${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror=return-type)
+target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror)
 
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

ur_controllers/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_controllers</name>
-  <version>3.0.2</version>
+  <version>3.1.0</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

ur_controllers/src/force_mode_controller.cpp

@@ -173,7 +173,8 @@ ur_controllers::ForceModeController::on_cleanup(const rclcpp_lifecycle::State& /
 controller_interface::return_type ur_controllers::ForceModeController::update(const rclcpp::Time& /*time*/,
                                                                               const rclcpp::Duration& /*period*/)
 {
-  async_state_ = command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].get_value();
+  async_state_ =
+      command_interfaces_[CommandInterfaces::FORCE_MODE_ASYNC_SUCCESS].get_optional().value_or(ASYNC_WAITING);
 
   // Publish state of force_mode?
   if (change_requested_) {

ur_controllers/src/freedrive_mode_controller.cpp

@@ -193,15 +193,15 @@ ur_controllers::FreedriveModeController::on_deactivate(const rclcpp_lifecycle::S
 controller_interface::return_type ur_controllers::FreedriveModeController::update(const rclcpp::Time& /*time*/,
                                                                                   const rclcpp::Duration& /*period*/)
 {
-  async_state_ = async_success_command_interface_->get().get_value();
+  async_state_ = async_success_command_interface_->get().get_optional().value_or(ASYNC_WAITING);
 
   if (change_requested_) {
     bool write_success = true;
     if (freedrive_active_) {
       // Check if the freedrive mode has been aborted from the hardware interface. E.g. the robot was stopped on the
       // teach pendant.
-      if (!std::isnan(abort_command_interface_->get().get_value()) &&
-          abort_command_interface_->get().get_value() == 1.0) {
+      if ((abort_command_interface_->get().get_optional().has_value()) &&
+          abort_command_interface_->get().get_optional().value() == 1.0) {
         RCLCPP_INFO(get_node()->get_logger(), "Freedrive mode aborted by hardware, aborting request.");
         freedrive_active_ = false;
         return controller_interface::return_type::OK;