Services to support various dashboard calls (UniversalRobots#1674)

URJala · web-flow · commit 9aff85af599c · 2026-03-13T09:31:55.000+01:00
Add more dashboard client calls that we didn't support so far.
diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml
@@ -74,4 +74,4 @@ jobs:
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
-          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests
+          ADDITIONAL_DEBS: docker.io netcat-openbsd curl  # Needed for integration tests
diff --git a/ur_dashboard_msgs/CMakeLists.txt b/ur_dashboard_msgs/CMakeLists.txt
@@ -11,6 +11,10 @@ set(msg_files
   msg/ProgramState.msg
   msg/RobotMode.msg
   msg/SafetyMode.msg
+  msg/OperationalMode.msg
+  msg/UserRole.msg
+  msg/VersionInformation.msg
+  msg/SafetyStatus.msg
 )
 
 set(srv_files
@@ -28,6 +32,16 @@ set(srv_files
   srv/RawRequest.srv
   srv/IsInRemoteControl.srv
   srv/UploadProgram.srv
+  srv/GetPolyScopeVersion.srv
+  srv/GetSerialNumber.srv
+  srv/GetUserRole.srv
+  srv/SetUserRole.srv
+  srv/SetOperationalMode.srv
+  srv/GetOperationalMode.srv
+  srv/GetRobotModel.srv
+  srv/GetSafetyStatus.srv
+  srv/GenerateFlightReport.srv
+  srv/GenerateSupportFile.srv
 )
 
 set(action_files
diff --git a/ur_dashboard_msgs/msg/OperationalMode.msg b/ur_dashboard_msgs/msg/OperationalMode.msg
@@ -0,0 +1,4 @@
+string MANUAL = MANUAL
+string AUTOMATIC = AUTOMATIC
+
+string mode
diff --git a/ur_dashboard_msgs/msg/SafetyStatus.msg b/ur_dashboard_msgs/msg/SafetyStatus.msg
@@ -0,0 +1,13 @@
+string NORMAL = NORMAL
+string REDUCED = REDUCED
+string PROTECTIVE_STOP = PROTECTIVE_STOP
+string RECOVERY = RECOVERY
+string SAFEGUARD_STOP = SAFEGUARD_STOP
+string SYSTEM_EMERGENCY_STOP = SYSTEM_EMERGENCY_STOP
+string ROBOT_EMERGENCY_STOP = ROBOT_EMERGENCY_STOP
+string VIOLATION = VIOLATION
+string FAULT = FAULT
+string AUTOMATIC_MODE_SAFEGUARD_STOP = AUTOMATIC_MODE_SAFEGUARD_STOP
+string SYSTEM_THREE_POSITION_ENABLING_STOP = SYSTEM_THREE_POSITION_ENABLING_STOP
+
+string status
diff --git a/ur_dashboard_msgs/msg/UserRole.msg b/ur_dashboard_msgs/msg/UserRole.msg
@@ -0,0 +1,7 @@
+string PROGRAMMER = PROGRAMMER
+string OPERATOR = OPERATOR
+string NONE = NONE
+string LOCKED = LOCKED
+string RESTRICTED = RESTRICTED
+
+string role
diff --git a/ur_dashboard_msgs/msg/VersionInformation.msg b/ur_dashboard_msgs/msg/VersionInformation.msg
@@ -0,0 +1,4 @@
+uint32 major
+uint32 minor
+uint32 bugfix
+uint32 build
diff --git a/ur_dashboard_msgs/srv/GenerateFlightReport.srv b/ur_dashboard_msgs/srv/GenerateFlightReport.srv
@@ -0,0 +1,10 @@
+string CONTROLLER = controller
+string SOFTWARE = software
+string SYSTEM = system
+
+# Same default as in the dashboard server
+string report_type SYSTEM
+---
+bool success
+string answer
+string report_id
diff --git a/ur_dashboard_msgs/srv/GenerateSupportFile.srv b/ur_dashboard_msgs/srv/GenerateSupportFile.srv
@@ -0,0 +1,6 @@
+# Default: save file in /programs
+string dir_path .
+---
+bool success
+string answer
+string generated_file_name
diff --git a/ur_dashboard_msgs/srv/GetOperationalMode.srv b/ur_dashboard_msgs/srv/GetOperationalMode.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string answer
+OperationalMode operational_mode
diff --git a/ur_dashboard_msgs/srv/GetPolyScopeVersion.srv b/ur_dashboard_msgs/srv/GetPolyScopeVersion.srv
@@ -0,0 +1,4 @@
+---
+string answer
+bool success
+VersionInformation version
diff --git a/ur_dashboard_msgs/srv/GetRobotModel.srv b/ur_dashboard_msgs/srv/GetRobotModel.srv
@@ -0,0 +1,4 @@
+---
+bool success
+string answer
+string robot_model
diff --git a/ur_dashboard_msgs/srv/GetSafetyStatus.srv b/ur_dashboard_msgs/srv/GetSafetyStatus.srv
@@ -0,0 +1,4 @@
+---
+string answer
+bool success
+SafetyStatus safety_status
diff --git a/ur_dashboard_msgs/srv/GetSerialNumber.srv b/ur_dashboard_msgs/srv/GetSerialNumber.srv
@@ -0,0 +1,4 @@
+---
+uint64 serial_number
+string answer
+bool success
diff --git a/ur_dashboard_msgs/srv/GetUserRole.srv b/ur_dashboard_msgs/srv/GetUserRole.srv
@@ -0,0 +1,4 @@
+---
+UserRole user_role
+string answer
+bool success
diff --git a/ur_dashboard_msgs/srv/SetOperationalMode.srv b/ur_dashboard_msgs/srv/SetOperationalMode.srv
@@ -0,0 +1,4 @@
+OperationalMode operational_mode
+---
+string answer
+bool success
diff --git a/ur_dashboard_msgs/srv/SetUserRole.srv b/ur_dashboard_msgs/srv/SetUserRole.srv
@@ -0,0 +1,6 @@
+
+
+UserRole user_role
+---
+bool success
+string answer
diff --git a/ur_robot_driver/doc/dashboard_client.rst b/ur_robot_driver/doc/dashboard_client.rst
@@ -175,6 +175,58 @@ upload_program (`ur_dashboard_msgs/UploadProgram <http://docs.ros.org/en/rolling
 exists, this service call will fail. This service is only available on a PolyScope X robot with
 version >= 10.12.0.
 
+get_polyscope_version (`ur_dashboard_msgs/GetPolyScopeVersion <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetPolyScopeVersion.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 | PolyScope 5** Get polyScope version of robot
+
+get_serial_number (`ur_dashboard_msgs/GetSerialNumber <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetSerialNumber.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 | PolyScope 5** Get serial number of robot
+
+get_user_role (`ur_dashboard_msgs/GetUserRole <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetUserRole.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 only** Get current user role
+
+set_user_role (`ur_dashboard_msgs/SetUserRole <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/SetUserRole.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 only** Set user role on the robot
+
+get_operational_mode (`ur_dashboard_msgs/GetOperationalMode <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetOperationalMode.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**PolyScope 5 | PolyScope X 10.12.0 onwards** Get current operational mode of the robot
+
+set_operational_mode (`ur_dashboard_msgs/SetOperationalMode <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/SetOperationalMode.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**PolyScope 5 only** Set operational mode of the robot. When this has been called, the teach pendant can not be used to change the operational mode until clear_operational_mode has been called.
+
+get_robot_model (`ur_dashboard_msgs/GetRobotModel <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetRobotModel.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 | PolyScope 5** Get the robot model, in the format URx. It should be noted this call does not differentiate between e-series and CB3, so UR5 and UR5e will both report as UR5
+
+get_safety_status (`ur_dashboard_msgs/GetSafetyStatus <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GetSafetyStatus.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**PolyScope 5 only** Get current safety status of the robot system, this is more detailed than get_safety_mode and should be preferred when possible
+
+generate_flight_report (`ur_dashboard_msgs/GenerateFlightReport <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GenerateFlightReport.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 | PolyScope 5** Generate flight report of the chosen type, defaults to SYSTEM. It is required to wait at least 30 seconds between triggering software or controller reports.
+
+generate_support_file (`ur_dashboard_msgs/GenerateSupportFile <http://docs.ros.org/en/rolling/p/ur_dashboard_msgs/srv/GenerateSupportFile.html>`_)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+**CB3 | PolyScope 5** Generate a support file a the specified location. Location is relative to the programs folder, if saving to a subfolder it must exist prior to the service call.
+Defaults to saving to the programs folder
+
+
 Parameters
 ----------
 
diff --git a/ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.hpp b/ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.hpp
@@ -67,6 +67,16 @@
 #include "ur_dashboard_msgs/srv/get_programs.hpp"
 #include "ur_dashboard_msgs/srv/download_program.hpp"
 #include "ur_dashboard_msgs/srv/upload_program.hpp"
+#include "ur_dashboard_msgs/srv/get_poly_scope_version.hpp"
+#include "ur_dashboard_msgs/srv/get_serial_number.hpp"
+#include "ur_dashboard_msgs/srv/get_user_role.hpp"
+#include "ur_dashboard_msgs/srv/set_user_role.hpp"
+#include "ur_dashboard_msgs/srv/get_operational_mode.hpp"
+#include "ur_dashboard_msgs/srv/set_operational_mode.hpp"
+#include "ur_dashboard_msgs/srv/get_robot_model.hpp"
+#include "ur_dashboard_msgs/srv/get_safety_status.hpp"
+#include "ur_dashboard_msgs/srv/generate_flight_report.hpp"
+#include "ur_dashboard_msgs/srv/generate_support_file.hpp"
 
 namespace ur_robot_driver
 {
@@ -183,6 +193,9 @@ class DashboardClientROS
   bool handleRemoteControlQuery(ur_dashboard_msgs::srv::IsInRemoteControl::Request::SharedPtr req,
                                 ur_dashboard_msgs::srv::IsInRemoteControl::Response::SharedPtr resp);
 
+  bool handleGetPolyScopeVersionQuery(ur_dashboard_msgs::srv::GetPolyScopeVersion::Request::SharedPtr req,
+                                      ur_dashboard_msgs::srv::GetPolyScopeVersion::Response::SharedPtr resp);
+
   bool connect();
 
   std::shared_ptr<rclcpp::Node> node_;
@@ -211,6 +224,10 @@ class DashboardClientROS
   rclcpp::Service<ur_dashboard_msgs::srv::AddToLog>::SharedPtr add_to_log_service_;
   rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr reconnect_service_;
   rclcpp::Service<ur_dashboard_msgs::srv::RawRequest>::SharedPtr raw_request_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::SetUserRole>::SharedPtr set_user_role_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::SetOperationalMode>::SharedPtr set_operational_mode_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GenerateFlightReport>::SharedPtr generate_flight_report_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GenerateSupportFile>::SharedPtr generate_support_file_service_;
 
   // Query services
   rclcpp::Service<ur_dashboard_msgs::srv::IsProgramRunning>::SharedPtr running_service_;
@@ -225,6 +242,12 @@ class DashboardClientROS
   rclcpp::Service<ur_dashboard_msgs::srv::UploadProgram>::SharedPtr upload_program_service_;
   rclcpp::Service<ur_dashboard_msgs::srv::UploadProgram>::SharedPtr update_program_service_;
   rclcpp::Service<ur_dashboard_msgs::srv::DownloadProgram>::SharedPtr download_program_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetPolyScopeVersion>::SharedPtr get_polyscope_version_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetSerialNumber>::SharedPtr get_serial_number_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetUserRole>::SharedPtr get_user_role_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetOperationalMode>::SharedPtr get_operational_mode_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetRobotModel>::SharedPtr get_robot_model_service_;
+  rclcpp::Service<ur_dashboard_msgs::srv::GetSafetyStatus>::SharedPtr get_safety_status_service_;
 
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
 };
diff --git a/ur_robot_driver/src/dashboard_client_ros.cpp b/ur_robot_driver/src/dashboard_client_ros.cpp
diff --git a/ur_robot_driver/test/dashboard_client.py b/ur_robot_driver/test/dashboard_client.py
diff --git a/ur_robot_driver/test/test_common.py b/ur_robot_driver/test/test_common.py
