Changelog

0.15.59-beta - 2025-03-14

Compatible with PolyScope X 10.8.

Changed

Breaking: Bump Angular from 18 to 19 (official migration guide)

Angular components are now, by default, standalone. This means that components that are part of a module must have the standalone: false property set in the @Component definition. For an example, see the application node in the gripdistance sample.
- This also means the .eslintrc.json configuration file must be updated to not prefer standalone components (again, see the gripdistance sample for how to do this).

Angular-based URCaps will need to be updated with the following changes in their package.json file:

The domhandler package must be added with version ^5.0.3 to the peerDependencies section, due to conflicts in transitive dependencies
@angular/* (and related) packages must have their version updated. See below for the exact packages or the gripdistance sample for the full context:

  {
    "dependencies": {
      "@angular/animations": "19.0.5",
      "@angular/cdk": "19.0.4",
      "@angular/common": "19.0.5",
      "@angular/compiler": "19.0.5",
      "@angular/core": "19.0.5",
      "@angular/elements": "19.0.5",
      "@angular/platform-browser": "19.0.5",
      "@angular/platform-browser-dynamic": "19.0.5",
      "@angular/router": "19.0.5",
      "@universal-robots/ui-angular-components": "3.1.0",
      "zone.js": "0.15.0"
    },
    "devDependencies": {
      "@angular-devkit/build-angular": "19.0.5",
      "@angular-eslint/builder": "~19.0.2",
      "@angular-eslint/eslint-plugin": "~19.0.2",
      "@angular-eslint/eslint-plugin-template": "~19.0.2",
      "@angular-eslint/schematics": "~19.0.2",
      "@angular-eslint/template-parser": "~19.0.2",
      "@angular/cli": "19.0.5",
      "@angular/compiler-cli": "19.0.5",
      "@angular/language-service": "19.0.5",
      "ngx-build-plus": "^19.0.0",
      "typescript": "5.6.3"
    },
    "peerDependencies": {
      "domhandler": "^5.0.3"
    }
  }

TypeScript API: Enhanced updateSubTreeNode function. We have updated the updateSubTreeNode function in PolyScope X to support BranchNode objects containing a children object. This enhancement allows developers to update a program node and its children in one operation, improving efficiency and simplifying program modifications.
TypeScript API: SubTreeNode Interface Fix. We have updated the SubTreeNode interface in PolyScope X to correctly include BranchNode as a valid type for ProgramNode. This resolves a previous issue where BranchNode was mistakenly omitted, ensuring that developers can now work with hierarchical structures as intended.
TypeScript API: Enhanced SourceBehaviours` for set/get. New methods have been added to SourceBehaviours to allow a contribution to perform extra range checking and validation when using a Source in a Set and Wait node. An example of their use would to range check an analog voltage to between 0-10V.

Added

Added a description of communicating with the simulator in the Working with the PolyScope X Simulator document.
New Backend Connectivity Guide in the Getting Started section of the SDK documentation.
New Serial communication via the Tool Connector in the How to guides section of the SDK documentation.
New Design Guidelines section in the SDK documentation, providing components and tools to guide UX designers.
TypeScript API: New Program Node Lifecycle Hook, onLifeCycleHook, for program nodes in PolyScope X. This function allows developers to execute custom logic whenever a program node undergoes key lifecycle events, including deletion, pasting, suppression, and unsuppression.

Removed

Breaking: Removed deprecated methods in ProgramNodeService, refer to ProgramTreeService instead.

Fixed

0.14.74 - 2024-12-20

Compatible with PolyScope X 10.7.

Changed

Breaking: Changed the Analog and Digital types to represent a single IO pin in the ROS2 urinterfaces.
- Instead, should use the newly added AnalogIOStateStamped and DigitalIOStateStamped message types.
Breaking: Moved isAdvancedProgramLabel from @universal-robots/contribution-api to LabelService.
Breaking: Renamed isAdvancedProgramLabel to isAdvancedLabel
Breaking: SetAnalogOutput and SetDigitalOutput are using the same message types.
- This will require any ROS2 services that uses the Analog or Digital IOs to be updated.

Added

The following functionality have been added to the ProgramExecutionService
- Play the currently loaded program
- Resume a currently paused program
- Pause a currently running program
- Get the status of the current program
- Step the currently running program
ProgramService has been added to the Presenter APIs with the functionality to:
- Get the list of programs
- Get the content of a specific program
- Load a program
- Get information about the currently loaded
The following methods have been added to the ProgramTreeService
- updateSubTreeNode can update a specific node in the program tree given a node id.
- getTreeContextFromProgramnodeById gets the tree context given a node id.
- getContributedNodeInstancesForURCap gets the contributed node instances for the URCap that are currently inserted in the program
Added the AnalogStamped and DigitalStamped message types.
- These types respectively hold the Analog and Digital values and a header.
Added the AnalogIO and DigitalIO message types.
- These types are the aggregates of the vectors of the inputs and outputs.
Added the AnalogIOStateStamped and DigitalIOStateStamped message types.
- These types are the aggregates of the Analog and Digital IOs e.g. control box digital IOs.

Removed

Fixed

0.13.127 - 2024-11-01

Compatible with PolyScope X 10.6.

Changed

Updated documentation for: “ROS2 topics and service” and “UR interface API”.
Updated Node version to 20.14.

Added

Added default safety password to the documentation.
Added “Permanent” mount type, that will prevent data being deleted after a URCap is deleted.

Removed

Fixed

When loading a program with a custom safety, after resetting the simulator, will no longer result in an error message.
Fixed issue where the simulator sometimes where unable to start in Windows WSL.
The URCap project generator “newurcap.sh” now always presents questions in the same order.

0.12.125 - 2024-07-04

Compatible with PolyScope X 10.5.

Changed

Breaking: For RobotPositionService in @universal-robots/contribution-api, the getInverseKinematics now needs an input argument for qNear.
Breaking: Interface FrameName in @universal-robots/contribution-api has been changed to a type of string.
The KinematicPosition interface in @universal-robots/contribution-api has been deprecated.
The Position interface in @universal-robots/contribution-api has been deprecated.
Revamped introduction to the SDK documentation

Added

New Waypoint type in @universal-robots/contribution-api which should be used instead of the now deprecated KinematicPosition and Position
The new Getting Started page guiding the user through creating their first URCap
A new more thorough guide on Working with the Simulator. There is a known issue when using the --reset option without --clear-application when working with the simulator described in a note in the following linked section.

Removed

Fixed

Default visibility filters for reading the Typescript APIs

0.11.95 - 2024-04-23

Compatible with PolyScope X 10.4.

Changed

Universal Robots NPM packages for the SDK is available by download and not packaged with the SDK-zip file.
Breaking: Bump Angular from 16.1.1 to 17.1.2

Added

Add Smart Skill option to the urcap generator in the SDK
Option to run the UR30 in the simulator.

Removed

Breaking: install.bat from the SDK, directing Windows users towards DevContainers and WSL2.
Documentation bundled with the SDK, it is now only available online.

Fixed

DevContainer terminal exit on commands with non 0 return code.
URProgram Node sample referenced internal component and not sample component.
URCap Generator newurcap.sh hanging during execution.
Configuring DevContainer takes a long time in VS Code.

0.10.103 - 2024-01-18

Added

Document: Networking - Macvlan
Add macvlan SDK sample

Fixed

npm run delete-urcap would not delete a URCap including a Device

0.10.94 - 2023-12-20

Compatible with PolyScope X 10.3.

URCap development is now done inside a devContainer
Slimmed down SDK filesize
Cleaned up naming in the SDK, removed UR+ and instead using URCap

Changed

Breaking: Renamed following packages:
- Rename LanguageSettings to RobotSettings
- Rename ProgramPresenterComponent to ProgramPresenter
Breaking: Moved following packages from @universal-robots/contribution-typings to @universal-robots/contribution-api
- ApplicationPresenter, ProgramPresenter, SmartSkillsPresenter, and SourcePresenter
Breaking: Move WebComponentDialogComponent to sub-package @universal-robots/contribution-api known as @universal-robots/contribution-api/angular.
Breaking: Move functions convertValue and valueRawConverter, from @universal-robots/utilities-units, to @universal-robots/contribution-api.
Breaking: Move interface @universal-robots/contribution-api to @universal-robots/ros2-interfaces
Breaking: Rename ApplicationAPI to ApplicationPresenterAPI
Breaking: Rename ProgramAPI to ProgramBehaviorApi
Breaking: Rename SmartSkillsAPI to SmartSkillsBehaviorAPI
Breaking: Rename service TreeService to ProgramNodeService
URCap installation guide URCap installation

Added

Document: Container cheat sheet
Document: Communicate with controller
Document: Smart Skills
Generate requiments.txt inside URCaps. This file describes what frontend API versions is used by the URCap.
Smart Skills URCap API
Add RobotPositionService
Add built-in PolyScope X program nodes as samples
Add --reset flag to URSim

Removed

Breaking: remove package @universal-robots/contribution-typings

Fixed

hotplug device did not reconnect after reboot
hotplug device where assigned to the wrong URCap
hotplug device did not reconnect after update

0.9.27 - 2023-09-25

Changed

Breaking: Bump Node from 16.14.0 to 18.17.1
Breaking: Bump Angular from 14.1.1 to 16.1.1
Breaking: In manifest.yaml
- volumeMounts are now mounts. See datastorage samples and documentation.
- Devices have changed to include a type instead of a specific device (e.g. device: "ttytool:/dev/ur-ttylink" becomes type: ttyTool)

Added

For Application nodes allow descriptive text to card in Applications menu