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Start dashboard client in driver only when software version < 10 #759

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Merged
urfeex merged 1 commit into from
Jul 29, 2025
Merged

Start dashboard client in driver only when software version < 10 #759

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12 changes: 9 additions & 3 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,9 +286,6 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your
// own hash matching your actual robot.
std::string calibration_checksum = robot_hw_nh.param<std::string>("kinematics/hash", "");
ROS_INFO_STREAM("Initializing dashboard client");
ros::NodeHandle dashboard_nh(robot_hw_nh, "dashboard");
dashboard_client_.reset(new DashboardClientROS(dashboard_nh, robot_ip_));
ROS_INFO_STREAM("Initializing urdriver");
try
{
Expand Down Expand Up @@ -328,6 +325,15 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
ur_driver_->registerTrajectoryDoneCallback(
std::bind(&HardwareInterface::passthroughTrajectoryDoneCb, this, std::placeholders::_1));

// Export version information to state interfaces
urcl::VersionInformation version_info = ur_driver_->getVersion();
if (version_info.major < 10)
{
ROS_INFO_STREAM("Initializing dashboard client");
ros::NodeHandle dashboard_nh(robot_hw_nh, "dashboard");
dashboard_client_.reset(new DashboardClientROS(dashboard_nh, robot_ip_));
}

// Send arbitrary script commands to this topic. Note: On e-Series the robot has to be in
// remote-control mode.
//
Expand Down