CHANGELOG.rst

Changelog for package ur_client_library

2.10.0 (2026-04-17)

• [primary] Add new fields to ConfigurationData object (#485)
• Fix traj point time precision (#482)
• Add parsing of safety mode messages to the primary interface (#480)
• Capitalize constexpr variables in direct torque example (#481)
• tool_communication.py: Add error handling for non-existing parent (#477)
• Fix rtde client shutdown (#474)
• Contributors: Felix Exner, URJala, dependabot[bot]

2.9.0 (2026-03-27)

• [RTDEClient] stop producer on destruction (#472)
• Primary Client power on improvements (#473)
• Move TCPServer disconnection log events from Info to Debug (#471)
• Refactor tool communication into standalone socat initialization script (#470)
• Contributors: Felix Exner, JohnN193, Rune Søe-Knudsen, Sergi Romero

2.8.0 (2026-03-20)

• Improve cleanup of trajectory buffer (#466)
• Fix documentation of direct_torque example (#467)
• Direct torque friction scales support (#445)
• If no new commands are received, halt (#440)
• Add check to make sure that program name and save path is specified w… (#447) …hen downloading program.
• Update gtest to fix MacOS build warnings (#464)
• Fix windows compile warnings (#451) Fix windows compile warnings and from now all warnings are treated as errors.
• Fix setGravity comments to be correct directionality (#462)
• Robustify TCPServer implementation for thread safety and windows support (#458)
• Add implementation of creating ExampleRobotWrapper with recipe vectors (#456)
• Rename endian.h to portable_endian.h (#442)
• [primary] Print a warning on additional data in RobotState submessages (#460)
• Replace TEST with TEST_F to ensure teardown (#459)
• [start_ursim.sh] Do not remove trailing "e" for PolyScope X (#461)
• Add doxygen to new dashboard X calls (#455)
• Improve socket connection robustness in external_control.urscript (#453)
• Fix filesystem linking on GCC 8 and add RHEL CI workflow (#454)
• Fix flakyness in ReverseInterfaceTest.handle_program_state (#430)
• Added ScriptCommandInterface command setTcpOffset (#444)
• Refactor rtde parsing for RT and performance improvements (#419)
• Contributors: AdamPettinger, David Karlsböck, Felix Exner, Rune Søe-Knudsen, Sergi Romero, URJala, dependabot[bot]

2.7.0 (2026-02-18)

• Add more RobotAPI commands to PolyScope X Dashboard Client (#435)
• [RTDE client] Test reconnect (#433)
• [TCPServer] Close all filedescriptors on shutdown (#432)
• [primary interface] More robot messages (#429)
• Fix instruction executor idle (#424)
• [primary interface] Fix parsing of primary messages (#426)
• [primary interface] Add KeyMessage parsing (#428)
• Add test for VersionMessage (#427)
• Add two new RTDE fields (#420) Add fields - target_gravity - target_base_acceleration
• Allow updating robot gravity (#415)
• Do not disconnect dashboard_client on read timeout (#414)
• Added support for std::vector strings in UrDriver (#408)
• Contributors: AdamPettinger, Felix Exner, Pablo David Aranda Rodriguez, dependabot[bot]

2.6.1 (2025-12-01)

• Ignore lists.apple link in link check (#411)
• Bump actions/checkout from 5 to 6 (#412)
• [Doc] Remove beta statement for External Control URCapX (#407)
• Updated version check, as 5.23 has been released
• Initialize dashboard client for PolyScopeX version 10.11.0 and above (#409)
• Explicitly list PolyScope X compatibility (#402)
• Contributors: Felix Exner, Mads Holm Peters, dependabot[bot]

2.6.0 (2025-11-10)

• RTDEClient sendStart handle missed confirmation (#403)
• Add enum value for 3PE input active to UrRtdeSafetyStatusBits (#401)
• Save polyscope folder in local filesystem (#399)
• Succeed power on command on PolyScope 5 when robot is running (#397)
• Bump actions/upload-artifact from 4 to 5 (#398)
• Contributors: Andrew C. Morrow, Felix Exner, dependabot[bot]

2.5.0 (2025-10-24)

• Polyscopex dashboard client (#392)
• Use enable_external_ft_sensor on old software versions (#395)
• Rtde external ft (#388)
• Fixed auto reconnection to the RTDE server. (#384)
• Refactor Rtde client test (#389)
• Add release.yml for auto-generated changelogs (#391)
• Allow an empty input recipe to the RTDE client (#318)
• Contributors: Felix Exner, Mads Holm Peters, URJala

2.4.0 (2025-10-13)

• UR18 support (#387)
• Remove output_bit_register_0...63 and input_bit_register_0..63 from RTDE list (#385)
• Set force mode parameters from config (#383)
• Direct torque control (#381)
• Update RTDE list to include new fields (#380)
• Add const qualifier to get functions and changed map value retrieval to at() function (#379)
• Contributors: Dominic Reber, Felix Exner, Pablo David Aranda Rodriguez, URJala

2.3.0 (2025-09-15)

• Install endian header on Windows and Apple only (#372)
• Add support for UR8 LONG (#375)
• Change ubuntu manpage link from bionic to noble (#374)
• Bump actions/setup-python from 5 to 6 (#373)
• Add possibility to register multiple callbacks to ReverseInterface and TrajectoryPointInterface (#359)
• Contributors: Felix Exner, dependabot[bot]

2.2.0 (2025-07-21)

• Remove print statement when executing optimovel primitives (#365)
• Remove SDK version mapping (#355)
• Support optimove motions in InstructionExecutor (#354)
• Initialize ReverseInterface with a config struct (#351)
• Join thread_move instead of killing it (#349)
• Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 (#350)
• Contributors: Felix Exner

2.1.0 (2025-06-18)

• Minimal support for building on macOS (#341)
• Install endian.h and add that to the target include directories on Windows and MacOS (#345)
• Add ScriptReader for script template parsing (#343)
• Add more tests for VersionInformation (#344)
• Fix driver branch for Jazzy downstream build (#339)
• Stop control, when UrDriver object is destroyed (#338)
• Add new robot types to URSim startup script (#331)
• Fix robot message type POPUP (#335)
• Disable checking links for two broken ones (#333)
• readme: load ROSin imgs from press_kit repository (#334)
• Added configuration data to packages parsed from the primary interface (#327)
• Correct message sum in test_tool_contact (#324)
• Fix the image sizes in architecture section (#321)
• Check links using lychee (#319)
• Update ROS distributions for industrial_ci (#317)
• Support PolyScopeX simulator for 10.8.0 (#315)
• Add an API reference page to the docs (#314)
• Update documentation (#309)
• Contributors: Andrew C. Morrow, Felix Exner, G.A. vd. Hoorn, Mads Holm Peters

2.0.0 (2025-04-16)

• Add functionality to send MoveP and MoveC instructions to the robot (#303)
• Fix naming issues (#307)
• Add more tests for start_ursim.sh (#305)
• [start_ursim.sh] Use direct web pages instead of GitHub API to download URCap (#308)
• Fix typo in freedrive example document (#304)
• Always download and install the latest URCap(X) if not present (#301)
• Document robot setup for PolyScope X (#302)
• Bump bats-core/bats-action from 3.0.0 to 3.0.1 (#300)
• Polyscope x integration tests (#295)
• Contributors: Felix Exner, dependabot[bot], xndcn

1.9.0 (2025-03-28)

• Make start_ursim.sh support polyscopex (#294)
• Reduce usage of dashboard client in tests and examples (#296)
• Try catch RTDE setup (#285)
• add missing headers (#290)
• PrimaryClient: Add methods to unlock protective stop and stop the program (#292)
• Set increased timeout in dashboard client test (#293)
• Do not print a warning when querying the dashboard server for a running program (#287)
• Primary client power on (#289)
• Contributors: Andrei Kholodnyi, Dominic Reber, Felix Exner

1.8.0 (2025-03-17)

• Remove unused variables (#288)
• Remove direct primary and secondary stream from UrDriver (#283)
• Configure gcovr to ignore negative hits as errors (#284)
• Add an explicit CMake option to turn on/off integration tests (#282)
• instruction_executor: Allow canceling an instruction (#281)
• instruction_executor: fix movel test (#280)
• Fix buffer order of acceleration and velocity (#279)
• Support compilation on Windows (#229)
• Contributors: Felix Exner, VDm

1.7.1 (2025-02-25)

• Fix trajectory result in trajectory forward mode when no trajectory is running (#276)
• Remove sending an idle command in quintic spline test (#275)
• In servo mode always allow targets close to current pose (#273)
• Contributors: Felix Exner

1.7.0 (2025-02-19)

• Make UrDriver tests run without ctest (#270)
• UrDriver: Send program in headless mode after creating trajectory and script_command servers (#271)
• Improve limit check (#256)
• Use colored log output and timestamps in default log handler (#267)
• Parametrize reconnection time for UrDriver (#266) Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
• Fix DashboardClient load program from subdir (#269)
• Increase dashboard timeout in ExampleRobotWrapper to 10s
• Disable internal deprecation warning
• Use a config struct for initializing UrDriver (#264)
• Use ExampleRobotWrapper for initialization in all examples (#265)
• Enable nightly CI jobs (#263)
• Expose diagnostic error codes (#225)
• RTDEClient: pause and stop in destructor only if running (#257)
• Use coverage flags to distinguish between runs (#261)
• Fix branch name for integration tests run on push (#262)
• Add codecov/test-results-action (#260)
• Fix GH edit URL for trajectory_point_interface example (#259)
• Update URL check
• Show which example is running in run_examples.sh
• Add documentation for all examples (#258)
• Update RT setup documentation to point to urcl docs
• Use EXPECT_NEAR vs EXPECT_EQ
• Fix typo in start_ursim.sh help
• Make CI capable to run with urcap
• Use ExampleRobotWrapper in integration tests (#252)
• Add a wrapper to handle all robot setup (#252)
• Allow clang-format to indent preprocessor directives (#246)
• docs: Clarify that the motion functions use script functions for execution (#255)
• Update link to sphinx-doc.org using https (#247)
• Use joint speed for extrapolation rather than differences (#254)
• Move setup instructions to ur_client_library (#248)
• Add more information about acceleration/velocity parametrization in trajectory examples (#251)
• Contributors: Felix Exner, Rune Søe-Knudsen, jessica-chen-ocado, Dominic Reber

1.6.0 (2025-01-23)

• Do not throw exception in DashboardClient::sendRequest (#249)
• Add instruction executor for high-level robot control (#242)
• Modernize cmake (#244)
• Update links to dashboard server documentation (#243)
• Trajectory point velocities and example (#241)
• Updated documentation (#228)
• Update ci (#239)
• Enable force mode compatibility with various move types (#230)
• Update package maintainers (#238)
• Bump codecov/codecov-action from 3 to 5 (#234)
• Remove the not regarding MIT license (#237)
• Bump pre-commit/action from 3.0.0 to 3.0.1 (#236)
• Bump actions/checkout from 1 to 4 (#232)
• Bump actions/setup-python from 4 to 5 (#235)
• Bump actions/upload-artifact from 3 to 4 (#233)
• Add dependabot configuration to update actions (#231)
• Contributors: Felix Exner, Rune Søe-Knudsen, dependabot[bot]

1.5.0 (2024-11-25)

• Adapt RTDE output recipe based on robot response (#221)
• CI: Fix flaky example runs (#223)
• Giving force mode parameters as arguments when calling startForceMode (#208)
• Add more arguments to start_ursim.sh (#220)
• Tcp socket improvements (#222)
• Added family photo to readme (#219)
• Add missing algorithm include (#214)
• Added missing RTDE data packages and fixed incorrect names (#213)
• Contributors: Felix Exner, Remi Siffert, URJala

1.4.0 (2024-09-10)

• Ensure that the targets are reachable within the robots limits (#184)
• Analog domain (#211)
• Fix clang compilation error (#210)
• Moved reset of speed slider to correct teardown function, so that it … (#206) …resets between each test.
• [doc] Fix syntax in example.rst (#207)
• [doc] Migrate documentation to sphinx (#95)
• Contributors: Felix Exner, Mads Holm Peters, Remi Siffert, URJala

1.3.7 (2024-06-03)

• [ci] Update CI * Run downstream tests for ICI * Correctly name jobs * Test Jazzy driver
• [start_ursim] Add program directory at correct location also when no model is provided
• [start_ursim] Always check ursim version for compatibility
• [start_ursim] Use a program folder per model
• [ci] Update distros for prerelease test
• Contributors: Felix Exner, Vincenzo Di Pentima

1.3.6 (2024-04-04)

• Changed spline interpolation to use the last commanded joint velocity… (#195)
• Contributors: Mads Holm Peters, Rune Søe-Knudsen

1.3.5 (2024-02-23)

• Add support for UR30 in start_ursim.sh (#193)
• Add header guard to datatypes.h (#189)
• Remove duplicated entry in clang-format file (#188)
• Wait after docker kill to prevent name conflicts (#187)
• Contributors: Felix Exner, Robert Wilbrandt

1.3.4 (2023-09-22)

• Make depreaction warning for keepalive_counter a warning instead of error (#182)
• Added watchdog configuration for the reverse socket (#178)
• Add support for ur20 in start_ursim script (#179)
• Use pre-commit for clang-format (#175)
• Make tcp_server retry binding the socket (#176)
• Contributors: Felix Exner, Mads Holm Peters

1.3.3 (2023-09-05)

• Add support for setting socket max num tries and reconnect timeout (#172)
• Unify socket open (#174)
• Added handling of spline interpolation with end point velocities (#169)
• Throws exception if the URScript file doesn't exists (#173)
• Added check to ensure receive timeout isn't overwritten (#171)
• Added RTDEClient constructor with vector recipes (#143)
• Only warn if system is not setup for FIFO scheduling (#170)
• Ensuring that the Timestamp is always in the output recipe (#168)
• CI: Add Iron to CI tests (#167)
• Add issue templates for bugs and features (#166)
• Updated license (#164)

• Bugfixes for spline interpolation (#162)

  • Add separate rounding in the conversion from float to int32
  • Add more debug printout for splines
  • Add Copying flight reports if CI fails
  • Update ursim mininum version in start_ursim.sh

• Fix the prerelease ci for Melodic (#163)
• Contributors: Dag-Are Trydal, Felix Exner, Felix Exner (fexner), Mads Holm Peters, Michael Eriksen, RobertWilbrandt, Rune Søe-Knudsen, urmahp, urrsk

1.3.2 (2023-07-13)

• Add a cmake option to activate address sanitizers (#146)
• Install start ursim (#155)
• Add spline interpolation on robot (#151)
• Add codecov.yml to exclude test and examples folders (#152)
• Make URSim log files available as artifacts also for the CI-industrial (#153)
• Remove Foxy from CI
• Add a script to run the examples instead of run-parts
• Add SaveLog command to the Dashboard client
• Make URSim log files available as artifacts
• Specifically set RTDE pipeline producer to FIFO scheduling (#139)
• Added support for force_mode, freedrive and tool contact (#138)
• Docs: Update link to ros_industrial_cmake_boilerplate
• Added tests for the comm classes (#129)
• Changed num_retries from static to an unsigned int (#136)
• Build downstream humble version from humble branch (#132)
• Contributors: Felix Exner, Mads Holm Peters, Rune Søe-Knudsen, Robert Wilbrandt

1.3.1 (2022-11-30)

• CI: Add a prerelease check that calls bloom-generate (#134)
• Contributors: Felix Exner

1.3.0 (2022-11-28)

• Dashboard commands, Docker Image and CI step for running the examples #127
• Added tests for the rtde interface clasess (#125)
• Fix unique_ptr type (#124)
• Fix 'BEGIN_REPLACE' - used in tool_communication (copy #101) (#120) (cherry picked from commit f7ce9f73181848f3957c660647fac0e5325862b9) Co-authored-by: rxjia <60809735+rxjia@users.noreply.github.com>
• Contributors: Felix Exner, Mads Holm Peters, RobertWilbrandt, Rune Søe-Knudsen, mergify[bot], urmarp, urrsk

1.2.0 (2022-10-04)

• Initialized receive timeout and changed exception to warning (#118)
• Added tests for the control interface classes (#112)
• Added note about Polyscope version requirement
• Added tcp_offset
• Added interface for forwarding script commands to the robot, that is … (#111)
• Fixed parsing of incomming packages when using rtde protocol v1 (#114) The received rtde packages should be parsed slightly different whether we use protocol v1 or v2.
• Add codecov step (#116)
• Added humble build
• Fixed downstream test instructions
• Update atomicops.h (#117) Fix the url in the comment regarding POSIX semaphores to fix error in the CI
• Make the read during boot depend on the frequency of the robot controller (#102)
• Ignore debian folder in check_links (#100) Otherwise this job raises an error in the release repository.
• Contributors: Felix Exner, Mads Holm Peters, Rune Søe-Knudsen, urmahp, urmarp

1.1.0 (2022-04-22)

• Support starting the driver, before the robot is booted (#98)
• Clear the queue when consumer reads from it (#96)
• Fix build with newer glibc
• Doxygen check (#77)
• Added target_frequency to RTDEClient (#85)
• Removed console_bridge dependency (#74)
• Added "On behalf of Universal Robots A/S" notice (#81) to all files that have been created by FZI
• Always install package.xml file (#78)
• register package with ament index
• Corrected smaller doxygen errors
• Added rosdoc_lite check
• Contributors: Cory Crean, Felix Exner, Jørn Bersvendsen, Mads Holm Peters, Martin Jansa, Stefan Scherzinger

1.0.0 (2021-06-18)

• Added Cartesian streaming interface #75
• Added trajectory forwarding interface #72
• Refactored Reverse interface #70 from fmauch/refactor_reverse_interface
• Added option for robot_ip as runtime argument for rtde_test (#71)
• Added reverse_ip parameter (#52)
• Move calibration check out of constructor. #65 from fmauch/calibration_check_optional
• Install the resources folder instead of the script file directly (#62)
• Use a non-blocking tcp server for the ReverseInterface and ScriptSender. #46 from fmauch/tcp_server
• Added LogHandler #40 from urmahp/logging_feature
• Fixed links in README (#35)
• Contributors: Felix Exner, G.A. vd. Hoorn, JS00000, Lennart Puck, Mads Holm Peters, Tristan Schnell

0.1.1 (2020-09-15)

• readme: missing whitespace
• Further elaborated license statements in README
• Install package.xml when built with catkin support
• Contributors: Felix Exner, G.A. vd. Hoorn

0.1.0 (2020-09-11)

• initial standalone release