Add set_target_payload support to ScriptCommandInterface#515
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## master #515 +/- ##
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- Coverage 78.12% 15.70% -62.43%
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Files 116 116
Lines 6566 6596 +30
Branches 2898 2912 +14
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- Hits 5130 1036 -4094
- Misses 1077 5476 +4399
+ Partials 359 84 -275
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Description
Adds support for the URScript
set_target_payload()command through theScriptCommandInterface, allowing users to set the payload mass, center ofgravity, inertia matrix, and transition time.
This follows the same pattern as the existing
setPayload()implementation.Changes
include/ur_client_library/control/script_command_interface.h: AddedsetTargetPayload()declaration and theSET_TARGET_PAYLOAD = 12enum valueto
ScriptCommand.include/ur_client_library/ur/ur_driver.h: AddedsetTargetPayload()declaration to
UrDriver.src/control/script_command_interface.cpp: ImplementedScriptCommandInterface::setTargetPayload(), encoding mass, CoG (3 values),inertia matrix (6 values), and transition time into the binary message.
src/ur/ur_driver.cpp: ImplementedUrDriver::setTargetPayload().resources/external_control.urscript: AddedSET_TARGET_PAYLOAD = 12constant and the corresponding
elifbranch in thescript_commandsthreadto call
set_target_payload().tests/test_script_command_interface.cpp: Addedtest_set_target_payloadunit test verifying correct encoding of all fields(mass, CoG, inertia, transition time) and that unused message slots are zero.
Message layout for SET_TARGET_PAYLOAD
12)Notes
transition_timedefaults to0.0seconds (no transition).Related issues
UniversalRobots/Universal_Robots_ROS2_Driver#1711
Related PR (ur_ros2_driver): UniversalRobots/Universal_Robots_ROS2_Driver#1808
Note
Medium Risk
Adds a new path for robot payload/dynamics parameters; incorrect values could affect motion modeling, but the change mirrors the existing setPayload pattern with tests on the wire format.
Overview
Adds
setTargetPayloadend-to-end so clients can drive URScriptset_target_payload()(mass, CoG, inertia, optional transition time) through the same script-command path assetPayload().ScriptCommandInterfaceandUrDriverexpose the new API; commandSET_TARGET_PAYLOAD(12) encodes eleven payload fields into the fixed 28-int script-command buffer (with zero padding).external_control.urscriptdecodes the message and callsset_target_payload. When the script-command socket is down,UrDriverfalls back to a plainset_target_payload(...)script, matching existing payload behavior. A unit test verifies command id and field encoding.Reviewed by Cursor Bugbot for commit 67d123d. Bugbot is set up for automated code reviews on this repo. Configure here.