Migration notes

This document contains notes on the migration of the ur_client_library between major versions.

It contains only breaking changes.

Migrating from 1.x.x to 2.x.x

  • In the urcl::ExampleRobotWrapper class the ur_driver_, dashboard_client and primary_client members are now private. Use getUrDriver(), getDashboardClient() and getPrimaryClient() to access them.

  • In urcl::comm::ControlModeTypes two member functions have been renamed:

    • is_control_mode_realtime -> isControlModeRealtime

    • is_control_mode_non_realtime -> isControlModeNonRealtime

  • In urcl::RobotReceiveTimeout the timeout_ member is now private. Use getAsMilliseconds() to access it.

  • In urcl::UrDriverConfiguration two members have been renamed:

    • rtde_initialization_attempts_ -> rtde_initialization_attempts

    • rtde_initialization_timeout_ -> rtde_initialization_timeout