2.13.0

Target ROS distributions

• ROS Humble
• ROS Jazzy
• ROS Kilted
• ROS Lyrical
• ROS Rolling

What's Changed

New features

• Add new controller_step RTDE field by @urfeex in #514
• Send script blocking return refactor by @URJala in #520
• sendScriptBlocking: Restart interface and resend script on readOnlyInterfaceException by @URJala in #522
• Primary client script execution feedback by @URJala in #484
• Add set_target_payload support to ScriptCommandInterface by @srvald in #515

Bugfixes

• Add missing robot types to string conversion by @urfeex in #513

Documentation

• Remove section about URCapX in development by @urfeex in #521

CI/ Repo / Packages

• Bump codecov/codecov-action from 5 to 7 by @dependabot[bot] in #516

Other

• Add robotSeriesString function by @urfeex in #510
• [DashboardClientX] Apply httplib timeouts; wire setReceiveTimeout() by @Vinicius-T-Robotics in #518

New Contributors

• @Vinicius-T-Robotics made their first contribution in #518

Full Changelog: 2.12.0...2.13.0

2.12.0

Target ROS distributions

• ROS Humble
• ROS Jazzy
• ROS Kilted
• ROS Lyrical
• ROS Rolling

What's Changed

New features

• Add parsing masterboard data by @urfeex in #492
• [Instruction Executor] Allow joint and pose targets for all motion functions by @urfeex in #491

Bugfixes

• Increase timeout waiting for initial configuration data package by @litziacarla in #489
• Make circular motion in example more compatible by @urfeex in #508

Documentation

• Docs: Make default group tab point to PolyScope X by @urfeex in #502

CI/ Repo / Packages

• Add lyrical build and migrate rolling to resolute by @urfeex in #499
• Add cppreference link to ignore list by @urfeex in #506

Other

• Added a test to check all robot model parametrizations by @urfeex in #505

New Contributors

• @litziacarla made their first contribution in #489

Full Changelog: 2.11.0...2.12.0

2.11.0

What's Changed

Bugfixes

• Make sure motion control returns to main thread before stopping by @urfeex in #490
• Fix data race by @urfeex in #498

New features

• Add helper function to get robot series by @urfeex in #488
• Add getKinematicsInfo accessor to PrimaryClient by @nfranczak in #496

Documentation

• Fix broken links by @urfeex in #487

CI/ Repo / Packages

• Make downloading and checking RTDE outputs from docs optional by @urfeex in #493
• Fix flaky reverse_interface test by @urfeex in #497
• Remove programs.UR5 linking to /ursim/programs by @urfeex in #500

New Contributors

• @nfranczak made their first contribution in #496

Full Changelog: 2.10.0...2.11.0

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