Verify the robot type on startup - #1771
Merged
Merged
Conversation
Check the ur_type parameter given from ROS with the type that the driver is actually connected to. If they don't match, hardware configuration fails.
More importantly, this will allow backporting this feature to older distributions as an opt-in parameter in order to not break behavior there.
urfeex
force-pushed
the
verify_robot_type
branch
from
April 27, 2026 08:02
1cfe3ab to
7bda8e0
Compare
urfeex
marked this pull request as ready for review
April 28, 2026 14:36
urfeex
added
enhancement
urrsk
reviewed
Apr 29, 2026
Comment on lines
+15
to
+19
| option( | ||
| UR_ROBOT_DRIVER_RUN_ROBOT_MODELS_TEST | ||
| "Run the integration test that runs the driver against URSim for every supported robot model" | ||
| OFF | ||
| ) |
Member
There was a problem hiding this comment.
I think it is great that this check is behind a flag. Though where do we actually us this flag and thereby enabling this test in the CI?
- Enable the test in CI
Member
Author
There was a problem hiding this comment.
I enabled the test in release PRs
Member
Author
There was a problem hiding this comment.
I enabled the test in release PRs
urrsk
approved these changes
May 6, 2026
urrsk
left a comment
urrsk
left a comment
Member
There was a problem hiding this comment.
Doing CI than only runs when we do a release, is always exciting see running when we do the release!
urfeex
added a commit
that referenced
this pull request
May 7, 2026
* Verify the robot type on startup (#1771) Check the ur_type parameter given from ROS with the type that the driver is actually connected to. If they don't match, hardware configuration fails. * By default, disable robot verification To not break the behavior, this feature gets disabled by default and is opt-in. I enabled it in the integration tests to always run.
This was referenced May 15, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Check the ur_type parameter given from ROS with the type that the driver is actually connected to. If they don't match, hardware configuration fails.
This fixes #842.
At the current state this is just a PoC. I think, I would like to move the helper functions to the client_library. What do you think @urrsk?
Also, the series deduction seems a bit janky, but to my knowledge the series isn't directly available. And since e.g. a ur5 and a ur5e both report "UR5" (or
1) as robot type, we need to know which one it is.ToDo