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REVERT_ME: Switch version checks to 5.22.0 as that't the beta version #356

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Merged
merged 1 commit into from
Jul 9, 2025
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REVERT_ME: Switch version checks to 5.22.0 as that't the beta version #356

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2 changes: 1 addition & 1 deletion examples/pd_controller_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,7 +187,7 @@ int main(int argc, char* argv[])

{
auto robot_version = g_my_robot->getUrDriver()->getVersion();
if (robot_version < urcl::VersionInformation::fromString("5.23.0") ||
if (robot_version < urcl::VersionInformation::fromString("5.22.0") || // ToDo: Increase to 5.23.0 once released
(robot_version.major > 5 && robot_version < urcl::VersionInformation::fromString("10.10.0")))
{
URCL_LOG_ERROR("This example requires a robot with at least version 5.23.0 / 10.10.0. Your robot has version %s.",
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3 changes: 2 additions & 1 deletion examples/torque_control.cpp
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Expand Up @@ -67,7 +67,8 @@ int main(int argc, char* argv[])
// software versions.
{
auto robot_version = g_my_robot->getUrDriver()->getVersion();
if (robot_version < urcl::VersionInformation::fromString("5.23.0") ||
// ToDo: Increase to 5.23.0 once released
if (robot_version < urcl::VersionInformation::fromString("5.22.0") ||
(robot_version.major > 5 && robot_version < urcl::VersionInformation::fromString("10.10.0")))
{
URCL_LOG_ERROR("This example requires a robot with at least version 5.23.0 / 10.10.0. Your robot has version %s.",
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4 changes: 2 additions & 2 deletions resources/external_control.urscript
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Expand Up @@ -270,7 +270,7 @@ thread torqueThread():
textmsg("ExternalControl: Starting torque thread")
while control_mode == MODE_TORQUE:
torque = cmd_torque
{% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
{% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
{% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
torque_command(torque, friction_comp=friction_compensation_enabled)
{% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
Expand Down Expand Up @@ -688,7 +688,7 @@ end
thread PDControlThread():
while control_mode == MODE_PD_CONTROLLER_JOINT or control_mode == MODE_PD_CONTROLLER_TASK:
local q_err = cmd_servo_q - get_actual_joint_positions()
{% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
{% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
{% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd * get_actual_joint_speeds()
tau = clamp_array(tau, max_joint_torques)
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9 changes: 6 additions & 3 deletions src/control/script_command_interface.cpp
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Expand Up @@ -228,7 +228,8 @@ bool ScriptCommandInterface::endToolContact()

bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compensation_enabled)
{
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
// ToDo: Increase to 5.23.0 once released
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
urcl::VersionInformation::fromString("10.10.0"), __func__);
const int message_length = 2;
uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
Expand All @@ -253,7 +254,8 @@ bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compens

bool ScriptCommandInterface::setPDControllerGains(const urcl::vector6d_t* kp, const urcl::vector6d_t* kd)
{
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
// ToDo: Increase to 5.23.0 once released
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
urcl::VersionInformation::fromString("10.10.0"), __func__);
const int message_length = 13;
uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
Expand Down Expand Up @@ -287,7 +289,8 @@ bool ScriptCommandInterface::setPDControllerGains(const urcl::vector6d_t* kp, co

bool ScriptCommandInterface::setMaxJointTorques(const urcl::vector6d_t* max_joint_torques)
{
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
// ToDo: Increase to 5.23.0 once released
robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
urcl::VersionInformation::fromString("10.10.0"), __func__);
const int message_length = 7;
uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];
Expand Down
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