ros-humble-ur-robot-driver (2.13.0-1jammy) jammy; urgency=high

  * Friction model controller (backport #1704 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1704>) (#1750 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1750>)
  * Update driver to use refactored tool communication script (backport #1721 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1721>) (#1744 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1744>)
  * Use integer representation of SafetyStatus.msg (backport #1734 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1734>) (#1741 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1741>)
  * [Docs] Fix linked service definition for update_program service (#1730 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1730>)
  * [ur_controllers] Remove Werror from CMakeLists (backport #1720 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1720>) (#1727 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1727>)
  * Use refactored RTDE client in driver (backport #1726 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1726>) (#1731 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1731>)
  * Services to support various dashboard calls (backport #1674 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1674>) (#1708 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1708>)
  * Dashboard client new x commands (backport #1679 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1679>) (#1694 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1694>)
  * Use a secondary program to confirm urscript_interface initialization (backport #1685 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1685>) (#1697 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1697>)
  * Add component lifecycle test to CMakeLists.txt (backport #1684 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1684>) (#1687 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1687>)
  * Update ft frame_id to tool0_controller (backport #1652 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1652>) (#1653 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1653>)
  * [Driver Tests] Unlock protective stop during test case setup (backport #1641 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1641>) (#1646 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1646>)
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Wed, 08 Apr 2026 22:00:00 -0000

ros-humble-ur-robot-driver (2.12.0-1jammy) jammy; urgency=high

  * Fix flange-to-TCP wrench transformation (backport #1615 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1615>) (#1635 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1635>)
  * Initialize force mode interfaces to NaN on init (backport #1625 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1625>) (#1627 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1627>)
  * [DashboardClient] Add a parameter callback (backport #1598 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1598>) (#1604 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1604>)
  * Replace dashboard client on PolyScope X warning (backport of #1599 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1599>) (#1602 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1602>)
  * Add ros2run as a test_depend (backport of #1597 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1597>) (#1600 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1600>)

 -- Felix Exner <feex@universal-robots.com>  Mon, 12 Jan 2026 23:00:00 -0000

ros-humble-ur-robot-driver (2.11.0-1jammy) jammy; urgency=high

  * Dashboard client polyscopex (backport #1546 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1546>) (#1562 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1562>)
  * Fix flaky tests (backport #1559 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1559>) (#1566 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1566>)
  * Add effort command interface to hardware interface (backport #1411 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1411>) (#1528 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1528>)
  * Contributors: mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Sun, 30 Nov 2025 23:00:00 -0000

ros-humble-ur-robot-driver (2.10.0-1jammy) jammy; urgency=high

  * Add missing update_rate config files for UR7e and UR12e (backport of #1544 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1544>) (#1547 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1547>)
  * Add support for UR18 (backport #1524 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1524>) (#1525 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1525>)
  * Trajectory until node (backport of #1461 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1461>) (#1522 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1522>)
  * Wait for used controllers in test setup (backport #1519 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1519>) (#1520 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1520>)
  * Running integration tests with mock hardware (backport #1226 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1226>) (#1508 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1508>)
  * Fix link to limits man page (#1518 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1518>)
  * Add test for hardware component lifecycle (backport #1476 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1476>) (#1506 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1506>)
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Wed, 22 Oct 2025 22:00:00 -0000

ros-humble-ur-robot-driver (2.9.0-1jammy) jammy; urgency=high

  * Add support for UR8 Long (#1491 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1491>)
  * Fix flaky controller switch test (backport of #1447 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1447>) (#1450 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1450>)
  * fix_flaky_force_mode_test (backport of #1429 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1429>) (#1448 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1448>)
  * Reduce flakiness of trajectory controller tests (backport of #1443 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1443>) (#1444 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1444>)
  * Added 'is in remote control' call as a dashboard service (backport of #1433 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1433>) (#1436 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1436>)
  * ur_robot_driver: Fix compilation on Windows (backport of #1421 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1421>) (#1431 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1431>)
    Co-authored-by: Silvio Traversaro <mailto:silvio@traversaro.it>
  * Refactor prepare_switch method (backport #1417 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1417>) (#1427 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1427>)
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Mon, 15 Sep 2025 22:00:00 -0000

ros-humble-ur-robot-driver (2.8.1-1jammy) jammy; urgency=high

  * [force mode controller] Fix the task frame orientation (backport #1379 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1379>) (#1380 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1380>)
  * Update feature list (backport of #1372 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1372>) (#1374 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1374>)
  * Contributors: mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Tue, 10 Jun 2025 22:00:00 -0000

ros-humble-ur-robot-driver (2.8.0-1jammy) jammy; urgency=high

  * [CI] Check links using lychee instead of a custom script (backport #1355 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1355>) (#1361 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1361>)
  * Add support for launching a UR15 robot (#1359 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1359>)
  * tool_contact_test: Check result status directly (backport of #1345 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1345>) (#1353 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1353>)
  * Added controller to enable and disable tool contact (backport of #940 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/940>) (#1337 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1337>)
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Mon, 19 May 2025 22:00:00 -0000

ros-humble-ur-robot-driver (2.7.0-1jammy) jammy; urgency=high

  * Start executing passthrough trajectories earlier than all points are transferred. (backport of #1313 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1313>) (#1335 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1335>)
  * Support PolyScopeX robots (backport of #1318 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1318>) (#1333 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1333>)
  * Add support for UR7e and UR12e (#1332 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1332>)
  * Use UrDriverConfig struct to initialize UrDriver (backport of #1328 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1328>) (#1330 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1330>)
  * Fix passthrough controller to not read non-existing state_interfaces (#1314 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1314>) (#1316 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1316>)
  * Contributors: mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Wed, 09 Apr 2025 22:00:00 -0000

ros-humble-ur-robot-driver (2.6.0-1jammy) jammy; urgency=high

  * Update transformForceTorque to handle whether it is a cb3 or an e-Series robot (backport of #1287 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1287>) (#1299 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1299>)
  * Port robot_state_helper to ROS2 (backport of  #933 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/933>) (#1286 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1286>)
  * Fix crashes on shutting down (#1270 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1270>) (#1271 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1271>)
  * Remove build warnings for Humble (#1234 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1234>)
  * Auto-update pre-commit hooks (backport #1260 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1260>) (#1261 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1261>)
  * Fix doc links (#1247 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1247>)
  * Remove urdf folder (#1257 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1257>)
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Sun, 16 Mar 2025 23:00:00 -0000

ros-humble-ur-robot-driver (2.5.2-1jammy) jammy; urgency=high

  * Check quaternions for equal dot_product instead of comparing their components individually (backport #1238 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1238>) (#1243 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1243>)
  * fix sphinx doc link in ur_robot_driver (#1240 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1240>) (#1242 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1242>)
  * Update pre-commit the same as on the main branch (#1232 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1232>)
  * Disable pose broadcaster on mock hardware (backport of #1229 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1229>) (#1230 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1230>)
  * Remove unused include (backport of #1220 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1220>)
    Co-authored-by: Bence Magyar <mailto:bence.magyar.robotics@gmail.com>
  * Contributors: Felix Exner, mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Mon, 20 Jan 2025 23:00:00 -0000

ros-humble-ur-robot-driver (2.5.1-1jammy) jammy; urgency=high



 -- Felix Exner <feex@universal-robots.com>  Fri, 20 Dec 2024 23:00:00 -0000

ros-humble-ur-robot-driver (2.5.0-1jammy) jammy; urgency=high

  * Freedrive Controller (#1114 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1114>) (#1211 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1211>)
  * Add force mode controller (#1049 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1049>) (#1193 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1193>)
  * Update package maintainers (backport of #1203 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1203>)
  * Forward trajectory controller (backport of #944 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/944>)
  * Use pose_broadcaster to publish the TCP pose (backport of #1108 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1108>)
  * Contributors: mergify[bot]

 -- Felix Exner <feex@universal-robots.com>  Tue, 17 Dec 2024 23:00:00 -0000

ros-humble-ur-robot-driver (2.2.16-1jammy) jammy; urgency=high

  * Allow setting the analog output domain when setting an analog output (backport of #1123 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1123>)
  * Fix component lifecycle (backport of #1098 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1098>)
  * [moveit] Disable execution_duration_monitoring by default (#1133 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1133>)
  * Service to get software version of robot (backport of #964 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/964>)
  * Assure the description is loaded as string (backport of #1107 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1107>)
  * Contributors: Felix Exner (fexner), mergify[bot], Jacob Larsen

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 27 Oct 2024 23:00:00 -0000

ros-humble-ur-robot-driver (2.2.15-1jammy) jammy; urgency=high

  * Fix passing launch_dashobard_client launch argument (backport of #1057 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1057>)
  * Updated the UR family photo on the readme (backport of #1064 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1064>)
  * Contributors: Rune Søoe-Knudsen, Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 25 Jul 2024 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.14-1jammy) jammy; urgency=high

  * Add sleep between controller stopper's controller queries (backport of #1038 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1038>)
  * Contributors: Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 30 Jun 2024 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.13-1jammy) jammy; urgency=high

  * Use robot_receive_timeout instead of keepalive_count (#1009 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1009>)
  * Remove extra spaces from start_ursim statement in tests (backport of #1010 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1010>)
  * Add calibration file to launch arguments (#1001 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1001>)
  * Contributors: Vincenzo Di Pentima, Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 16 Jun 2024 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.12-1jammy) jammy; urgency=high

  * Remove dependency to docker.io (backport #985 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/985>)
  * Simplify tests (backport of #849 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/849>)
  * Update installation instructions for source build (backport #967 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/967>)
  * Move installation instructions to subpage (backport #870 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/870>)
  * Reduce number of controller_spawners to 3 (#928 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/928>)
  * Fix multi-line strings in DeclareLaunchArgument (backport #948 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/948>)
  * "use_fake_hardware" for UR20 (#950 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/950>)
  * Contributors: Vincenzo Di Pentima, Felix Exner, Robert Wilbrandt, Matthijs van der Burgh

 -- Denis Stogl <denis@stoglrobotics.de>  Wed, 15 May 2024 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.11-1jammy) jammy; urgency=high

  * Add UR30 support (#930 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/930>)
  * Move communication setup to on_configure instead of on_activate (#936 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/936>)
  * Contributors: Felix Exner, Vincenzo Di Pentima

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 07 Apr 2024 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.10-1jammy) jammy; urgency=high

  * Add backward_ros to driver (#872 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/872>) (#878 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/878>)
  * Port configuration  (#835 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/835>) (#847 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/847>)
  * Update link to MoveIt! documentation (#845 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/845>)
  * Contributors: mergify[bot]

 -- Denis Stogl <denis@stoglrobotics.de>  Tue, 02 Jan 2024 23:00:00 -0000

ros-humble-ur-robot-driver (2.2.9-1jammy) jammy; urgency=high

  * Added a test that sjtc correctly aborts on violation of constraints
  * Added support for UR20 (#805 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/805>)
  * Introduced tf_prefix into log handler (#713 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/713>)
  * Start ursim from lib (#733 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/733>)
  * Run robot driver test also with tf_prefix (#729 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/729>)
  * Urscript interface (#721 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/721>) (#742 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/742>)
  * Contributors: Felix Exner, Lennart Nachtigall, mergify[bot]

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 21 Sep 2023 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.8-1jammy) jammy; urgency=high

  * Use tf prefix properly (backport #688 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/688>) (#725 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/725>)
  * Use SCHED_FIFO for controller_manager's main thread (#719 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/719>) (#722 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/722>)
  * Contributors: mergify[bot]

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 25 Jun 2023 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.7-1jammy) jammy; urgency=high

  * Calling on_deactivate in dtr (#679 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/679>) (#704 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/704>)
  * Adds full nonblocking readout support (Multiarm part 4)  - v2 (#673 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/673>) (#703 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/703>)
  * Correct calibration correction launch file in doc (#590 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/590>)
  * Introduce hand back control service (#528 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/528>) (#670 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/670>)
  * Update definition of test goals to new version. (backport #637 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/637>) (#668 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/668>)
  * Default path to ur_client_library urscript (#316 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/316>) (#553 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/553>)
    * Change default path for urscript for headless mode.
    * Replace urscript path also in newer ur_robot_driver launchfile
  * Wait longer for controllers to load and activate
  * Fix flaky tests (#641 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/641>)
  * Added services to set tool voltage and zero force torque sensor (#466 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/466>) (#582 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/582>)
  * Controller spawner timeout (backport #608 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/608>) (#609 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/609>)
  * Fix cmake dependency on controller_manager (backport #598 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/598>) (#599 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/599>)
  * Increase timeout for first test service call to driver (Backport of #605 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/605>) (#607 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/607>)
  * Update linters & checkers (backport #426 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/426>) (#556 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/556>)
  * Clean up & improve execution tests (Backport of #512 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/512>) (#552 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/552>)
  * Contributors: Felix Exner (fexner), Lennart Nachtigall, Robert Wilbrandt, mergify[bot], Denis Stogl, livanov93, Mads Holm Peters

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 01 Jun 2023 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.6-1jammy) jammy; urgency=high

  * Cleanup humble branch (#545 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/545>)
  * Contributors: Felix Exner (fexner)

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 27 Nov 2022 23:00:00 -0000

ros-humble-ur-robot-driver (2.2.5-1jammy) jammy; urgency=high

  * ur_robot_driver: Controller_stopper fix deprecation warning
  * Fix tool voltage setup (#526 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/526>)
    * Move BEGIN_REPLACE inside of header
    * Change default value of tool_voltage
    Keeping this at 0 requires users to explicitly set it to non-zero. This way
    we won't accitentally destroy hardware that cannot handle 24V.
  * Added dependency to socat (#527 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/527>)
    This is needed for the tool forwarding.
  * Add a note in the tool_comm doc about a URCap conflict (#524 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/524>)
    * Add a note in the tool_comm doc about a URCap conflict
    * Update ur_robot_driver/doc/setup_tool_communication.rst
    Co-authored-by: Mads Holm Peters <mailto:79145214+urmahp@users.noreply.github.com>
    * Fix formatting and one spelling mistake
    Co-authored-by: Mads Holm Peters <mailto:79145214+urmahp@users.noreply.github.com>
  * Contributors: Felix Exner, Felix Exner (fexner)

 -- Denis Stogl <denis@stoglrobotics.de>  Fri, 18 Nov 2022 23:00:00 -0000

ros-humble-ur-robot-driver (2.2.4-1jammy) jammy; urgency=high

  * Remove the custom ursim docker files (#478 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/478>)
    This has been migrated inside the docs and is not needed anymore.
  * Remove duplicated update_rate parameter (#479 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/479>)
  * Contributors: Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 06 Oct 2022 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.3-1jammy) jammy; urgency=high

  * Adapt ros control api (#448 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/448>)
    * scaled jtc: Use get_interface_name instead of get_name
    * Migrate from stopped controllers to inactive controllers
    stopped controllers has been deprecated upstream
  * Contributors: Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Tue, 26 Jul 2022 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.2-1jammy) jammy; urgency=high

  * Made sure all past maintainers are listed as authors (#429 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/429>)
  * Silence a compilation warning (#425 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/425>)
    Since setting the receive timeout takes the time_buffer as an argument
    this raises a "may be used uninitialized" warning. Setting this to 0
    explicitly should prevent that.
  * Doc: Fix IP address in usage->ursim section (#422 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/422>)
  * Contributors: Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Mon, 18 Jul 2022 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.1-1jammy) jammy; urgency=high

  * Fixed controller name for force_torque_sensor_broadcaster (#411 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/411>)
  * Contributors: Felix Exner

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 26 Jun 2022 22:00:00 -0000

ros-humble-ur-robot-driver (2.2.0-1jammy) jammy; urgency=high

  * Updated package maintainers
  * Rework bringup (#403 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/403>)
  * Prepare for humble (#394 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/394>)
  * Update dependencies on all packages (#391 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/391>)
  * Update HW-interface API for humble. (#377 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/377>)
  * Use types in hardware interface from ros2_control in local namespace (#339 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/339>)
  * Update header extension to remove compile warning. (#285 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/285>)
  * Add resource files from ROS World. (#226 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/226>)
  * Add sphinx documentation (#340 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/340>)
  * Update license to BSD-3-Clause (#277 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/277>)
  * Update ROS_INTERFACE.md to current driver (#335 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/335>)
  * Fix hardware interface names in error output (#329 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/329>)
  * Added controller stopper node (#309 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/309>)
  * Correct link to calibration extraction (#310 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/310>)
  * Start the tool communication script if the flag is set (#267 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/267>)
  * Change driver constructor and change calibration check (#282 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/282>)
  * Use GPIO tag from URDF in driver. (#224 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/224>)
  * Separate control node (#281 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/281>)
  * Add missing dependency on angles and update formatting for linters. (#283 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/283>)
  * Do not print an error output if writing is not possible (#266 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/266>)
  * Update features.md (#250 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/250>)
  * Tool communication (#218 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/218>)
  * Payload service (#238 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/238>)
  * Import transformation of force-torque into tcp frame from ROS1 driver (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/hardware_interface.cpp). (#237 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/237>)
  * Make reading and writing work when hardware is disconnected (#233 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/233>)
  * Add missing command and state interfaces to get everything working with the fake hardware and add some comment into xacro file to be clearer. (#221 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/221>)
  * Decrease the rate of async tasks. (#223 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/223>)
  * Change robot type. (#220 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/220>)
  * Driver to headless. (#217 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/217>)
  * Test execution tests (#216 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/216>)
  * Integration tests improvement (#206 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/206>)
  * Set start modes to empty. Avoid position ctrl loop on start. (#211 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/211>)
  * Add resend program service and enable headless mode (#198 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/198>)
  * Implement "choices" for robot_type param (#204 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/204>)
  * Calibration extraction package (#186 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/186>)
  * Add breaking api changes from ros2_control to hardware_interface (#189 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/189>)
  * Fix prepare and perform switch operation (#191 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/191>)
  * Update CI configuration to support galactic and rolling (#142 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/142>)
  * Dockerize ursim with driver in docker compose (#144 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/144>)
  * Enabling velocity mode (#146 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/146>)
  * Moved registering publisher and service to on_active (#151 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/151>)
  * Converted io_test and switch_on_test to ROS2 (#124 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/124>)
  * Added loghandler to handle log messages from the Client Library with … (#126 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/126>)
  * Removed dashboard client from hardware interface
  * [WIP] Updated feature list (#102 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/102>)
  * Moved Async check out of script running check (#112 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/112>)
  * Fix gpio controller (#103 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/103>)
  * Fixed speed slider service call (#100 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/100>)
  * Adding missing backslash and only setting workdir once (#108 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/108>)
  * Added dockerfile for the driver (#105 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/105>)
  * Using official Universal Robot Client Library (#101 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/101>)
  * Reintegrating missing ur_client_library dependency since the break the building process (#97 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/97>)
  * Fix readme hardware setup (#91 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/91>)
  * Fix move to home bug (#92 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/92>)
  * Using modern python
  * Some intermediate commit
  * Remove obsolete and unused files and packages. (#80 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/80>)
  * Review CI by correcting the configurations (#71 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/71>)
  * Add support for gpios, update MoveIt and ros2_control launching (#66 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/66>)
  * Quickfix against move home bug
  * Added missing initialization
  * Use GitHub Actions, use pre-commit formatting (#56 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/56>)
  * Put dashboard services into corresponding namespace
  * Start dashboard client from within the hardware interface
  * Added try catch blocks for service calls
  * Removed repeated declaration of timeout parameter which lead to connection crash
  * Removed static service name in which all auto generated services where mapped
  * Removed unused variable
  * Fixed clang-format issue
  * Removed all robot status stuff
  * Exchanged hardcoded value for RobotState msgs enum
  * Removed currently unused controller state variables
  * Added placeholder for industrial_robot_status_interface
  * Fixed clang issues
  * Added checks for internal robot state machine
  * Only load speed scaling interface
  * Changed state interface to combined speed scaling factor
  * Added missing formatting in hardware interface
  * Initial version of the speed_scaling_state_controller
  * Fix clang tidy in multiple pkgs.
  * Clang tidy fix.
  * Update force torque state controller.
  * Prepare for testing.
  * Fix decision breaker for position control. Make decision effect instantaneous.
  * Use only position interface.
  * Update hardware interface for ROS2 (#8 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/8>)
  * Update the dashboard client for ROS2 (#5 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/5>)
  * Hardware interface framework (#3 <https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/3>)
  * Add XML schema to all ``package.xml`` files
  * Silence ``ament_lint_cmake`` errors
  * Update packaging for ROS2
  * Update package.xml files so ``ros2 pkg list`` shows all pkgs
  * Clean out ur_robot_driver for initial ROS2 compilation
  * Compile ur_dashboard_msgs for ROS2
  * Delete all launch/config files with no UR5 relation
  * Initial work toward compiling ur_robot_driver
  * Update CMakeLists and package.xml for:
    - ur5_moveit_config
    - ur_bringup
    - ur_description
  * Change pkg versions to 0.0.0
  * Contributors: AndyZe, Denis Stogl, Denis Štogl, Felix Exner, John Morris, Lovro, Mads Holm Peters, Marvin Große Besselmann, Rune Søe-Knudsen, livanov93, Robert Wilbrandt

 -- Denis Stogl <denis@stoglrobotics.de>  Sun, 19 Jun 2022 22:00:00 -0000

ros-humble-ur-robot-driver (0.0.3-1jammy) jammy; urgency=high

  * Added a service to end ROS control from ROS side
  * Publish IO state on ROS topics
  * Added write channel through RTDE with speed slider and IO services
  * Added subscriber to send arbitrary URScript commands to the robot

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 08 Aug 2019 22:00:00 -0000

ros-humble-ur-robot-driver (0.0.2-1jammy) jammy; urgency=high

  * Fixed dependencies and installation
  * Updated README
  * Fixed passing parameters through launch files
  * Added support for correctly switching controllers during runtime and using the standard
    joint_trajectory_controller
  * Updated externalcontrol URCap to version 1.0.2
    + Fixed Script timeout when running the URCap inside of a looping tree
    + Fixed a couple of typos
  * Increased minimal required UR software version to 3.7/5.1

 -- Denis Stogl <denis@stoglrobotics.de>  Tue, 02 Jul 2019 22:00:00 -0000

ros-humble-ur-robot-driver (0.0.1-1jammy) jammy; urgency=high

  Initial release

 -- Denis Stogl <denis@stoglrobotics.de>  Thu, 27 Jun 2019 22:00:00 -0000


