From a88f043e5f4d6db603b340cdebb6d7ae41add78d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 23 Nov 2024 15:58:30 +0100
Subject: [PATCH 1/2] Update RealTimeBox

---
 .../include/ur_controllers/ur_configuration_controller.hpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
index 3775ee72c..30a7378a1 100644
--- a/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
+++ b/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
@@ -41,13 +41,10 @@
 #ifndef UR_CONTROLLERS__UR_CONFIGURATION_CONTROLLER_HPP_
 #define UR_CONTROLLERS__UR_CONFIGURATION_CONTROLLER_HPP_
 
-// TODO(fmauch): Currently, the realtime_box_best_effort doesn't include this
-#include <functional>
-#include <realtime_tools/realtime_box_best_effort.h>  // NOLINT
-
 #include <memory>
 
 #include <controller_interface/controller_interface.hpp>
+#include <realtime_tools/realtime_box.h>
 
 #include "ur_msgs/srv/get_robot_software_version.hpp"
 #include "ur_configuration_controller_parameters.hpp"
@@ -88,7 +85,7 @@ class URConfigurationController : public controller_interface::ControllerInterfa
   CallbackReturn on_init() override;
 
 private:
-  realtime_tools::RealtimeBoxBestEffort<std::shared_ptr<VersionInformation>> robot_software_version_{
+  realtime_tools::RealtimeBox<std::shared_ptr<VersionInformation>> robot_software_version_{
     std::make_shared<VersionInformation>()
   };
 

From a30a18a3c0ad2b69f7b944edc20a476a24a26dce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 23 Nov 2024 16:35:06 +0100
Subject: [PATCH 2/2] realtime box API change

---
 ur_controllers/src/ur_configuration_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_controllers/src/ur_configuration_controller.cpp b/ur_controllers/src/ur_configuration_controller.cpp
index a6ec2d24b..ee131cc52 100644
--- a/ur_controllers/src/ur_configuration_controller.cpp
+++ b/ur_controllers/src/ur_configuration_controller.cpp
@@ -114,7 +114,7 @@ bool URConfigurationController::getRobotSoftwareVersion(
     ur_msgs::srv::GetRobotSoftwareVersion::Response::SharedPtr resp)
 {
   std::shared_ptr<VersionInformation> temp;
-  return robot_software_version_.tryGet([resp](const std::shared_ptr<VersionInformation> ptr) {
+  return robot_software_version_.try_get([resp](const std::shared_ptr<VersionInformation> ptr) {
     resp->major = ptr->major;
     resp->minor = ptr->minor;
     resp->build = ptr->build;