UniversalRobots · urfeex · Sep 16, 2025 · Sep 16, 2025 · Sep 16, 2025
diff --git a/ur/CHANGELOG.rst b/ur/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2025-09-16)
+------------------
+
 4.1.0 (2025-07-29)
 ------------------
 

diff --git a/ur/package.xml b/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>4.1.0</version>
+  <version>4.2.0</version>
   <description>Metapackage for universal robots</description>
   <maintainer email="[email protected]">Felix Exner</maintainer>
   <maintainer email="[email protected]">Rune Søe-Knudsen</maintainer>

diff --git a/ur_calibration/CHANGELOG.rst b/ur_calibration/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_calibration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2025-09-16)
+------------------
+
 4.1.0 (2025-07-29)
 ------------------
 * Use hpp headers from geometry2 (`#1467 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1467>`_)

diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ur_calibration</name>
-  <version>4.1.0</version>
+  <version>4.2.0</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>

diff --git a/ur_controllers/CHANGELOG.rst b/ur_controllers/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package ur_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2025-09-16)
+------------------
+* Realtime tools migration (`#1474 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1474>`_)
+  Use RealtimeThreadSafeBox instead of RealTimeBuffer.
+* Replace SJTC implementation with upstream (`#1485 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1485>`_)
+* Contributors: Felix Exner, URJala
+
 4.1.0 (2025-07-29)
 ------------------
 * ur_configuration_controller: use try_set on RTBox (`#1470 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1470>`_)

diff --git a/ur_controllers/package.xml b/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>4.1.0</version>
+  <version>4.2.0</version>
   <description>Provides controllers that use the speed scaling interface of Universal Robots.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

diff --git a/ur_dashboard_msgs/CHANGELOG.rst b/ur_dashboard_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ur_dashboard_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2025-09-16)
+------------------
+
 4.1.0 (2025-07-29)
 ------------------
 * Added 'is in remote control' call as a dashboard service (`#1433 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1433>`_)

diff --git a/ur_dashboard_msgs/package.xml b/ur_dashboard_msgs/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_dashboard_msgs</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Messages around the UR Dashboard server.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>

diff --git a/ur_moveit_config/CHANGELOG.rst b/ur_moveit_config/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package ur_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2025-09-16)
+------------------
+* Add support for launching UR8Long (`#1490 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1490>`_)
+* Contributors: Felix Exner
+
 4.1.0 (2025-07-29)
 ------------------
 

diff --git a/ur_moveit_config/package.xml b/ur_moveit_config/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_moveit_config</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>
      An example package with MoveIt2 configurations for UR robots.
   </description>

diff --git a/ur_robot_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst
@@ -1,3 +1,9 @@
+4.2.0 (2025-09-16)
+------------------
+* Add support for launching UR8Long (`#1490 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1490>`_)
+* [Force mode test] Remove wrong seq entry (`#1488 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1488>`_)
+* Contributors: Felix Exner
+
 4.1.0 (2025-07-29)
 ------------------
 * Migrate hardware_interface's on_init method (`#1464 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1464>`_)

diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/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_robot_driver</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
 
   <maintainer email="[email protected]">Felix Exner</maintainer>