Rebase from 'upstream'

UniversalRobots · Jun 3, 2024 · e36262b · e36262b
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -5,6 +5,7 @@ jobs:
   build:
     timeout-minutes: 30
     runs-on: ubuntu-latest
+    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
     strategy:
       matrix:
         env:
@@ -34,9 +35,9 @@ jobs:
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
-            CXXFLAGS: -g -O2  -fprofile-arcs -ftest-coverage
-            CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
-            LDFLAGS: -fprofile-arcs -ftest-coverage
+          CXXFLAGS: -g -O2  -fprofile-arcs -ftest-coverage
+          CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
+          LDFLAGS: -fprofile-arcs -ftest-coverage
       - name: build
         run: cmake --build build --config Debug
       - name: Create folder for test artifacts

diff --git a/.github/workflows/industrial-ci.yml b/.github/workflows/industrial-ci.yml
@@ -2,100 +2,31 @@ name: ROS industrial ci
 on: [push, pull_request]
 
 jobs:
-  build:
+  industrial_ci:
+    name: ${{matrix.ROS_DISTRO.NAME}}, ${{matrix.ROS_REPO}}
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        env:
-          - ROS_DISTRO: melodic
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.melodic.rosinstall"
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-          - ROS_DISTRO: noetic
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.noetic.rosinstall"
-            BUILDER: catkin_tools
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-          - ROS_DISTRO: galactic
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#galactic"
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-            NOT_TEST_DOWNSTREAM: true
-          - ROS_DISTRO: humble
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/humble/Universal_Robots_ROS2_Driver-not-released.humble.repos"
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-            NOT_TEST_DOWNSTREAM: true
-          - ROS_DISTRO: iron
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#iron https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/iron/Universal_Robots_ROS2_Driver-not-released.iron.repos"
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-            NOT_TEST_DOWNSTREAM: true
-          - ROS_DISTRO: rolling
-            ROS_REPO: main
-            IMMEDIATE_TEST_OUTPUT: true
-            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/main/Universal_Robots_ROS2_Driver-not-released.rolling.repos"
-            DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            URSIM_VERSION: '5.9.4'
-            ROBOT_MODEL: 'ur5e'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-            NOT_TEST_DOWNSTREAM: true
-
+        ROS_DISTRO:
+          - {NAME: noetic, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.noetic.rosinstall"}
+          - {NAME: humble, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble"}
+          - {NAME: iron, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#iron"}
+          - {NAME: jazzy, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"}
+          - {NAME: rolling, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"}
+        ROS_REPO:
+          - main
+          - testing
+    env:
+      DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
     steps:
-      - uses: actions/checkout@v1
-      - name: start ursim
-        run: |
-          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
-        env: ${{matrix.env}}
+      - uses: actions/checkout@v4
+      - run: docker network create --subnet=192.168.56.0/24 ursim_net
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
-      - name: Generate URSim log files
-        if: always()
-        run: |
-          nc -q 1 192.168.56.101 29999 <<END
-          saveLog
-          END
-          mkdir -p ursim_logs
-          docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log
-          docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log
-          docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt
-      - name: Copy flight reports
-        if: failure()
-        run: |
-          mkdir -p ursim_logs/flightreports
-          docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/
-      - name: Upload logfiles
-        uses: actions/upload-artifact@v3
-        if: always()
-        with:
-          name: ${{matrix.env.ROS_DISTRO}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
-          path: ursim_logs
-          if-no-files-found: error
-          retention-days: 10
+        env:
+          IMMEDIATE_TEST_OUTPUT: true
+          DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests
+          DOWNSTREAM_WORKSPACE: ${{matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE}}
+          ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}}
+          ROS_REPO: ${{matrix.ROS_REPO}}
diff --git a/.github/workflows/prerelease.yml b/.github/workflows/prerelease.yml
@@ -11,13 +11,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, iron, rolling]
-        OS_VERSION: [jammy]
         include:
           - ROS_DISTRO: melodic
             OS_VERSION: bionic
           - ROS_DISTRO: noetic
             OS_VERSION: focal
+          - ROS_DISTRO: humble
+            OS_VERSION: jammy
+          - ROS_DISTRO: iron
+            OS_VERSION: jammy
+          - ROS_DISTRO: jazzy
+            OS_VERSION: noble
+          - ROS_DISTRO: rolling
+            OS_VERSION: noble
 
     steps:
       - uses: actions/checkout@v1

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.7 (2024-06-03)
+------------------
+* [ci] Update CI
+  * Run downstream tests for ICI
+  * Correctly name jobs
+  * Test Jazzy driver
+* [start_ursim] Add program directory at correct location also when no model is provided
+* [start_ursim] Always check ursim version for compatibility
+* [start_ursim] Use a program folder per model
+* [ci] Update distros for prerelease test
+* Contributors: Felix Exner, Vincenzo Di Pentima
+
 1.3.6 (2024-04-04)
 ------------------
 * Changed spline interpolation to use the last commanded joint velocity… (`#195 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/195>`_)

diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ur_client_library</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Standalone C++ library for accessing Universal Robots interfaces. This has been forked off the ur_robot_driver.</description>
   <author>Thomas Timm Andersen</author>
   <author>Simon Rasmussen</author>

diff --git a/scripts/start_ursim.sh b/scripts/start_ursim.sh
@@ -43,19 +43,17 @@ help()
                    See https://hub.docker.com/r/universalrobots/ursim_e-series/tags
                    for available versions. Defaults to 'latest'"
   echo "    -p <folder>    Location from which programs are read / to which programs are written.
-                   If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
+                   If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/${ROBOT_MODEL}/programs"
   echo "    -u <folder>    Location from which URCaps are read / to which URCaps are written.
                    If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
   echo "    -d     Detached mode - start in backgound"
   echo "    -h             Print this Help."
   echo
 }
 
-ROBOT_MODEL=UR5
+ROBOT_MODEL=ur5e
 ROBOT_SERIES=e-series
 URSIM_VERSION=latest
-URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
-PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/programs"
 DETACHED=false
 
 
@@ -80,6 +78,8 @@ validate_model()
       exit
       ;;
   esac
+  URCAP_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
+  PROGRAM_STORAGE="${PERSISTENT_BASE}/${ROBOT_SERIES}/${ROBOT_MODEL}/programs"
 }
 
 verlte()
@@ -89,7 +89,15 @@ verlte()
 
 validate_ursim_version()
 {
-  [ $URSIM_VERSION == "latest" ] && return 0
+  local IMAGE_URSIM_VERSION
+  # Inspect the image's URSim version if the image is locally available. This is especially
+  # important when we use the "latest" tag, as we don't know the version hiding behind this and it
+  # could be potentially older.
+  IMAGE_URSIM_VERSION=$(docker image inspect universalrobots/ursim_"${ROBOT_SERIES}":"$URSIM_VERSION" 2>/dev/null | grep -Po '"build_version": "URSim Version: \K[^"]*') || true
+  if [ -z "$IMAGE_URSIM_VERSION" ]; then
+    IMAGE_URSIM_VERSION="$URSIM_VERSION"
+  fi
+  [ "$IMAGE_URSIM_VERSION" == "latest" ] && return 0
   local MIN_CB3="3.14.3"
   local MIN_E_SERIES="5.9.4"
   local MIN_UR20="5.14.0"
@@ -100,25 +108,25 @@ validate_ursim_version()
 
   case $ROBOT_SERIES in
     cb3)
-      verlte "4.0.0" $URSIM_VERSION && echo "$URSIM_VERSION is no valid CB3 version!" && exit
-      verlte $MIN_CB3 $URSIM_VERSION && return 0
+      verlte "4.0.0" "$IMAGE_URSIM_VERSION" && echo "$IMAGE_URSIM_VERSION is no valid CB3 version!" && exit
+      verlte "$MIN_CB3" "$IMAGE_URSIM_VERSION" && return 0
       MIN_VERSION=$MIN_CB3
       ;;
     e-series)
       if [[ $ROBOT_MODEL == "UR20" ]]; then
-          verlte $MIN_UR20 $URSIM_VERSION && return 0
+          verlte "$MIN_UR20" "$IMAGE_URSIM_VERSION" && return 0
           MIN_VERSION=$MIN_UR20
       elif [[ $ROBOT_MODEL == "UR30" ]]; then
-          verlte $MIN_UR30 $URSIM_VERSION && return 0
+          verlte "$MIN_UR30" "$IMAGE_URSIM_VERSION" && return 0
           MIN_VERSION=$MIN_UR30
       else
-          verlte $MIN_E_SERIES $URSIM_VERSION && return 0
+          verlte "$MIN_E_SERIES" "$URSIM_VERSION" && return 0
           MIN_VERSION=$MIN_E_SERIES
       fi
       ;;
   esac
 
-  echo "Illegal version given. Version must be greater or equal to $MIN_VERSION. Given version: $URSIM_VERSION."
+  echo "Illegal version given. For $ROBOT_SERIES $ROBOT_MODEL the software version must be greater or equal to $MIN_VERSION. Given version: $IMAGE_URSIM_VERSION."
   exit
 }
 
@@ -130,17 +138,15 @@ while getopts ":hm:v:p:u:d" option; do
       exit;;
     m) # robot model
       ROBOT_MODEL=${OPTARG}
-      validate_model
       ;;
     v) # ursim_version
       URSIM_VERSION=${OPTARG}
-      validate_ursim_version
       ;;
     p) # program_folder
-      PROGRAM_STORAGE=${OPTARG}
+      PROGRAM_STORAGE_ARG=${OPTARG}
       ;;
     u) # urcaps_folder
-      URCAP_STORAGE=${OPTARG}
+      URCAP_STORAGE_ARG=${OPTARG}
       ;;
     d) # detached mode
       DETACHED=true
@@ -151,6 +157,15 @@ while getopts ":hm:v:p:u:d" option; do
       exit;;
   esac
 done
+validate_model
+validate_ursim_version
+
+if [ -n "$PROGRAM_STORAGE_ARG" ]; then
+  PROGRAM_STORAGE="$PROGRAM_STORAGE_ARG"
+fi
+if [ -n "$URCAP_STORAGE_ARG" ]; then
+  URCAP_STORAGE="$URCAP_STORAGE_ARG"
+fi
 
 # Create local storage for programs and URCaps
 mkdir -p "${URCAP_STORAGE}"