2.10.0

What's Changed

Bugfixes

• Fix rtde client shutdown by @urfeex in #474
• Fix traj point time precision by @urfeex in #482

New features

• tool_communication.py: Add error handling for non-existing parent by @urfeex in #477
• Add parsing of safety mode messages to the primary interface by @URJala in #480

CI/ Repo / Packages

• Exclude preempt_rt_versions webside from checker by @urfeex in #476
• Bump codecov/codecov-action from 5 to 6 by @dependabot[bot] in #478

Other

• Capitalize constexpr variables in direct torque example by @URJala in #481
• [primary] Add new fields to ConfigurationData object by @urfeex in #485

Full Changelog: 2.9.0...2.10.0

2.9.0

What's Changed

Bugfixes

• Primary power on improvements by @urrsk in #473
• stop producer on destruction by @JohnN193 in #472

New features

• Refactor tool communication into standalone socat initialization script by @srvald in #470

Other

• Move TCPServer disconnection log events from Info to Debug by @urfeex in #471

New Contributors

• @JohnN193 made their first contribution in #472

Full Changelog: 2.8.0...2.9.0

2.8.0

What's Changed

Bugfixes

• Fix filesystem linking on GCC 8 and add RHEL CI workflow by @srvald in #454
• Improve socket connection robustness in external_control.urscript by @srvald in #453
• Do not remove trailing "e" by @URJala in #461
• [primary] Print a warning on additional data in RobotState submessages by @urfeex in #460
• Add implementation of creating ExampleRobotWrapper with recipe vectors by @urfeex in #456
• Fix windows compile warnings by @urrsk in #451

New features

• Refactor rtde parsing by @urfeex in #419
• Added ScriptCommandInterface command setTcpOffset by @dkar-sto in #444
• Rename endian.h to portable_endian.h by @urrsk in #442
• Robustify TCPServer implementation for thread safety and windows support by @urfeex in #458
• Add check to make sure that program name and save path is specified w… by @URJala in #447
• Direct torque friction scales support by @urrsk in #445

Documentation

• Add doxygen to new dashboard X calls by @URJala in #455
• Fix setGravity comments to be correct directionality by @AdamPettinger in #462
• Fix documentation of direct_torque example by @urfeex in #467

CI/ Repo / Packages

• Fix ReverseInterfaceTest.handle_program_state by @urfeex in #430
• Bump actions/upload-artifact from 6 to 7 by @dependabot[bot] in #449
• Replace TEST with TEST_F to ensure teardown by @srvald in #459
• Add Alpine Linux CI by @urrsk in #452
• Update codecov according to the documentation by @urrsk in #463
• Update gtest to fix MacOS build warnings by @urrsk in #464

Other

• If no new commands are received, halt by @urfeex in #440
• Improve cleanup of trajectory buffer by @srvald in #466

New Contributors

• @dkar-sto made their first contribution in #444
• @srvald made their first contribution in #454

Full Changelog: 2.7.0...2.8.0

2.7.0

What's Changed

Bugfixes

• Do not disconnect dashboard_client on read timeout by @urfeex in #414
• Fix parsing of primary messages by @urfeex in #426
• Fix instruction executor idle by @urfeex in #424
• [TCPServer] Close all filedescriptors on shutdown by @urfeex in #432
• Fix data field for loaded program RobotAPI call by @urfeex in #443

New features

• Allow updating robot gravity by @AdamPettinger in #415
• Add two new RTDE fields by @urfeex in #420
• Key message by @urfeex in #428
• [primary interface] More robot messages by @urfeex in #429
• Add more RobotAPI commands to PolyScope X Dashboard Client by @urfeex in #435
• Added support for std::vector strings in UrDriver by @PabloDArandaR in #408

CI/ Repo / Packages

• Bump actions/cache from 4 to 5 by @dependabot[bot] in #417
• Bump actions/upload-artifact from 5 to 6 by @dependabot[bot] in #416
• [CI Doc builds] Pin sphinx version to <9 by @urfeex in #418
• Update ignore regex for 3rdparty by @urfeex in #421
• Add test for VersionMessage by @urfeex in #427
• Bump bats-core/bats-action from 3.0.1 to 4.0.0 by @dependabot[bot] in #431
• [RTDE client] Test reconnect by @urfeex in #433

New Contributors

• @AdamPettinger made their first contribution in #415

Full Changelog: 2.6.1...2.7.0

2.6.1

What's Changed

Documentation

• Explicitly list PolyScope X compatibility by @urfeex in #402
• Docs: Remove beta statement for External Control URCapX by @urfeex in #407

CI/ Repo / Packages

• Bump actions/checkout from 5 to 6 by @dependabot[bot] in #412
• Ignore lists.apple link in link check by @urfeex in #411

Other

• Initialize dashboard client for PolyScopeX version 10.11.0 and above by @urmahp in #409
• Updated version check, as 5.23 has been released by @urmahp in #410

Full Changelog: 2.6.0...2.6.1

2.6.0

What's Changed

Bugfixes

• Succeed power on command on PolyScope 5 when robot is running by @urfeex in #397
• RTDEClient sendStart handle missed confirmation by @urfeex in #403

New features

• Save polyscope folder in local filesystem by @urfeex in #399
• Add bit for 3PE stoppage to UrRtdeSafetyStatusBits by @acmorrow in #401

CI/ Repo / Packages

• Bump actions/upload-artifact from 4 to 5 by @dependabot[bot] in #398

Full Changelog: 2.5.0...2.6.0

2.5.0

What's Changed

Bugfixes

• Fixed auto reconnection to the RTDE server. by @urmahp in #384

New features

• Allow an empty input recipe to the RTDE client by @urfeex in #318
• Rtde external ft by @urfeex in #388
• Polyscopex dashboard client by @urfeex in #392

CI/ Repo / Packages

• Refactor Rtde client test by @URJala in #389

Full Changelog: 2.4.0...2.5.0

2.4.0

This is a big one. The main new features are the support for the new UR18 and support for direct torque control.

What's Changed

New features

• Update RTDE list to include new fields by @URJala in #380
• Direct torque control by @urfeex in #381
• UR18 support by @urfeex in #387

Bugfixes

• Add const qualifier to get functions and changed map value retrieval to at() function by @PabloDArandaR in #379
• Set force mode parameters from config by @domire8 in #383
• Remove bit_registers_0...63 from RTDE list by @URJala in #385

New Contributors

• @PabloDArandaR made their first contribution in #379

Full Changelog: 2.3.0...2.4.0

2.3.0

New Features

• Add possibility to register multiple callbacks to ReverseInterface and TrajectoryPointInterface by @urfeex in #359
• Add support for UR8 LONG by @urfeex in #375

Bugfixes

• Install endian header on Windows and Apple only by @urfeex in #372

Documentation

• Change ubuntu manpage link from bionic to noble by @urfeex in #374

CI / Repo / Package

• Bump actions/checkout from 4 to 5 by @dependabot[bot] in #371
• Bump actions/setup-python from 5 to 6 by @dependabot[bot] in #373

Full Changelog: 2.2.0...2.3.0

2.2.0

New Features

• Support optimove motions in InstructionExecutor by @urfeex in #354

Bugfixes

• Fix external_control urcapx version to 0.1.0 for PolyScope 10.7.0 by @urfeex in #350

Other changes

• Join thread_move instead of killing it by @urfeex in #349
• Initialize ReverseInterface with a config struct by @urfeex in #351
• Remove SDK version mapping by @urfeex in #355
• Remove print statement when executing optimovel primitives by @urfeex in #365

Full Changelog: 2.1.0...2.2.0