renamed motion_primitives_forward_controller package to motion_primitives_controllers

Author: mathias31415

ur_robot_driver/CMakeLists.txt

@@ -38,7 +38,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
-find_package(motion_primitives_forward_controller REQUIRED)
+find_package(motion_primitives_controllers REQUIRED)
 find_package(control_msgs REQUIRED)
 
 include_directories(include)
@@ -64,7 +64,7 @@ target_link_libraries(ur_robot_driver_plugin PUBLIC
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
   ur_client_library::urcl
-  motion_primitives_forward_controller::motion_primitives_forward_controller
+  motion_primitives_controllers::motion_primitives_controllers
 )
 target_include_directories(
   ur_robot_driver_plugin

ur_robot_driver/config/ur_controllers.yaml

@@ -51,7 +51,7 @@ controller_manager:
     enforce_command_limits: false
 
     motion_primitive_forward_controller:
-      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
+      type: motion_primitives_controllers/MotionPrimitivesForwardController
 
 speed_scaling_state_broadcaster:
   ros__parameters:

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -35,7 +35,7 @@
  * \date    2019-04-11
  *
  * \author  Mathias Fuhrer [email protected]
- * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * \date    2025-05-28 – Added support for usage with motion_primitives_controller
  *
  */
 //----------------------------------------------------------------------
@@ -72,10 +72,10 @@
 #include <realtime_tools/lock_free_queue.hpp>
 
 // Motion primitives controller
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "motion_primitives_controllers/motion_primitives_forward_controller.hpp"
 
 using MoprimMotionType = control_msgs::msg::MotionPrimitive;
-using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
+using MoprimMotionHelperType = motion_primitives_controllers::MotionHelperType;
 
 namespace ur_robot_driver
 {
@@ -299,7 +299,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
-  using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
+  using MoprimExecutionState = motion_primitives_controllers::ExecutionState;
   std::atomic<MoprimExecutionState> current_moprim_execution_status_;
   std::atomic_bool ready_for_new_moprim_;
 

ur_robot_driver/package.xml

@@ -48,7 +48,7 @@
   <depend>ur_dashboard_msgs</depend>
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
-  <depend>motion_primitives_forward_controller</depend>
+  <depend>motion_primitives_controllers</depend>
   <depend>control_msgs</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>

ur_robot_driver/src/hardware_interface.cpp

@@ -35,7 +35,7 @@
  * \date    2020-11-9
  *
  * \author  Mathias Fuhrer [email protected]
- * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * \date    2025-05-28 – Added support for usage with motion_primitives_controller
  *
  */
 //----------------------------------------------------------------------
@@ -1630,7 +1630,7 @@ void URPositionHardwareInterface::handleMoprimCommands()
       }
       default:
       {
-        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received moprim command");
+        RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "Received moprim command");
         // Push command to thread-safe queue
         if (!moprim_cmd_queue_.push(hw_moprim_commands_)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to push command to "