Universal_Robots_Client_Library

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### Feature summary API documentation should still be generated using Doxygen, but the usage documentation should be done by Sphinx.

fmauch

### Feature summary The README is a bit outdated and could use some restructuring, probably in the context of #95

fmauch

This PR improves the primary interface support in the client library

3

A big acknowledgement should be given to @fmauch and @urmarp as they have build the foundation for this PR in #26 and #137. I have tried to address the most...

urmahp

[start_ursim] Script does not check ursim version

1

`start_ursim` does not check if the used ursim version is up-to-date. This can lead to the following problem: 1. Having used the script earlier, docker pulled a version that was...

RobertWilbrandt

`start_ursim.sh` defaults to using `${PERSISTENT_BASE}/${ROBOT_SERIES}` as base for urcap and program storage. This means that the same storage is shared between different robots of a series which can lead to...

RobertWilbrandt

Try reconnecting shut down connections

1

For now this only concerns the primary/secondary interface, but revisiting the RTDE handling might make sense later. - [x] Correctly detect shut down connections using `MSG_NOSIGNAL` and `EPIPE` - [x]...

RobertWilbrandt

Added check to ensure that the targets are reachable within the robot…

6

…s limits This will break the test_joint_trajectory_position_interface test in the ROS Driver as part of the test is designed to activate the speed scaling by sending unreachable targets. These changes...

urmahp

### Feature summary Adding checks to avoid a sudden move of the robot using servoj and spline We have decided to add some limits to how wild command the robot...

urrsk

reconnect the robot after connection dropped down.

3

Hi Team, A OEM customer is using this library in their product, a disconnection issue affects their development, so a method of reconnecting the robot is needed. They are using...

ZhengHaichao

When building `ur_robot_driver` (ROS2, humble) with this package from source, it fails if i also have `ros-humble-ur-client-library` installed. The error is: ```console /usr/bin/ld: /home/wilbrandt/robot_folders/checkout/ur_humble/colcon_ws/install/ur_robot_driver/lib/libur_robot_driver_plugin.so: undefined reference to `urcl::UrDriver::UrDriver(std::__cxx11::basic_string const&, std::__cxx11::basic_string...

RobertWilbrandt