Extend-Robotics · nitish3693 · Jul 31, 2025 · Sep 4, 2024 · Sep 9, 2024 · Mar 24, 2025
diff --git a/.github/workflows/ci_bionic.yml b/.github/workflows/ci_bionic.yml
diff --git a/.github/workflows/ci_focal.yml → .github/workflows/ci_noetic.yml b/.github/workflows/ci_focal.yml → .github/workflows/ci_noetic.yml
@@ -1,4 +1,4 @@
-name: CI - Ubuntu Focal
+name: CI - ROS Noetic
 
 on:
   # direct pushes to protected branches are not supported
@@ -12,7 +12,7 @@ on:
 jobs:
   industrial_ci:
     name: ROS Noetic (${{ matrix.ros_repo }})
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04 # the ICI job itself will be running in a container.
 
     strategy:
       fail-fast: false
@@ -25,10 +25,10 @@ jobs:
 
     steps:
       - name: Fetch repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: ccache cache
-        uses: actions/cache@v3
+        uses: actions/cache@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           # we always want the ccache cache to be persisted, as we cannot easily

diff --git a/README.md b/README.md
@@ -1,7 +1,6 @@
 # Universal Robot
 
-[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22)
-[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
+[![Build Status: ROS Noetic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20ROS%20Noetic/badge.svg?branch=noetic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+ROS+Noetic%22)
 
 [![License - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)

diff --git a/universal_robots/CHANGELOG.rst b/universal_robots/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package universal_robots
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2025-05-13)
+------------------
+* Add support for UR15 (`#702 <https://github.com/ros-industrial/universal_robot/issues/702>`_)
+* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
+* Contributors: Felix Exner
+
+1.4.0 (2025-03-31)
+------------------
+* Add moveit configs for ur7e and ur12e to metapackage (`#693 <https://github.com/ros-industrial/universal_robot/issues/693>`_)
+* Contributors: Felix Exner
+
 1.3.3 (2024-04-08)
 ------------------
 * UR30 description and meshes (`#674 <https://github.com/ros-industrial/universal_robot/issues/674>`_)

diff --git a/universal_robots/LICENSE b/universal_robots/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/universal_robots/package.xml b/universal_robots/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="2">
   <name>universal_robots</name>
-  <version>1.3.3</version>
+  <version>1.5.0</version>
   <description>ROS-Industrial support for Universal Robots manipulators (metapackage).</description>
   <author>Felix Messmer</author>
   <author>Kelsey Hawkins</author>
@@ -22,13 +22,16 @@
 
   <exec_depend>ur10e_moveit_config</exec_depend>
   <exec_depend>ur10_moveit_config</exec_depend>
+  <exec_depend>ur12e_moveit_config</exec_depend>
   <exec_depend>ur16e_moveit_config</exec_depend>
+  <exec_depend>ur15_moveit_config</exec_depend>
   <exec_depend>ur20_moveit_config</exec_depend>
   <exec_depend>ur30_moveit_config</exec_depend>
   <exec_depend>ur3e_moveit_config</exec_depend>
   <exec_depend>ur3_moveit_config</exec_depend>
   <exec_depend>ur5e_moveit_config</exec_depend>
   <exec_depend>ur5_moveit_config</exec_depend>
+  <exec_depend>ur7e_moveit_config</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_gazebo</exec_depend>
 

diff --git a/ur10_moveit_config/CHANGELOG.rst b/ur10_moveit_config/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package ur10_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2025-05-13)
+------------------
+* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
+* Contributors: Felix Exner
+
+1.4.0 (2025-03-31)
+------------------
+
 1.3.3 (2024-04-08)
 ------------------
 

diff --git a/ur10_moveit_config/LICENSE b/ur10_moveit_config/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
@@ -3,7 +3,8 @@
 #  kinematics_solver_search_resolution: 0.005
 #  kinematics_solver_timeout: 0.005
 manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  solve_type: Distance
+  kinematics_solver: bio_ik/BioIKKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
+  kinematics_solver_timeout: 0.02
+  minimal_displacement_weight: 0.8
+  mode: gd_c
diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
 
   <name>ur10_moveit_config</name>
-  <version>1.3.3</version>
+  <version>1.5.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework
   </description>

diff --git a/ur10e_moveit_config/CHANGELOG.rst b/ur10e_moveit_config/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package ur10e_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.5.0 (2025-05-13)
+------------------
+* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
+* Contributors: Felix Exner
+
+1.4.0 (2025-03-31)
+------------------
+
 1.3.3 (2024-04-08)
 ------------------
 

diff --git a/ur10e_moveit_config/LICENSE b/ur10e_moveit_config/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/ur10e_moveit_config/config/kinematics.yaml b/ur10e_moveit_config/config/kinematics.yaml
@@ -5,5 +5,6 @@
 manipulator:
   kinematics_solver: bio_ik/BioIKKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
+  kinematics_solver_timeout: 0.02
   minimal_displacement_weight: 0.8
+  mode: gd_c
diff --git a/ur10e_moveit_config/package.xml b/ur10e_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
 
   <name>ur10e_moveit_config</name>
-  <version>1.3.3</version>
+  <version>1.5.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur10e with the MoveIt Motion Planning Framework
   </description>

diff --git a/ur12e_moveit_config/.setup_assistant b/ur12e_moveit_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: ur_description
+    relative_path: urdf/ur12e.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/ur12e.srdf
+  CONFIG:
+    author_name: Felix Exner
+    author_email: felix@fexner.de
+    generated_timestamp: 1611154369
diff --git a/ur12e_moveit_config/CHANGELOG.rst b/ur12e_moveit_config/CHANGELOG.rst
@@ -0,0 +1,64 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ur12e_moveit_config
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.5.0 (2025-05-13)
+------------------
+* Add License files to packages (`#695 <https://github.com/ros-industrial/universal_robot/issues/695>`_)
+* Contributors: Felix Exner
+
+1.4.0 (2025-03-31)
+------------------
+* Add support for ur7e and ur12e (`#692 <https://github.com/ros-industrial/universal_robot/issues/692>`_)
+* Contributors: Felix Exner
+
+1.3.3 (2024-04-08)
+------------------
+
+1.3.2 (2023-12-18)
+------------------
+
+1.3.1 (2022-11-11)
+------------------
+
+1.3.0 (2022-11-10)
+------------------
+
+1.2.5 (2019-04-05)
+------------------
+
+1.2.1 (2018-01-06)
+------------------
+
+1.2.0 (2017-08-04)
+------------------
+
+1.1.9 (2017-01-02)
+------------------
+
+1.1.8 (2016-12-30)
+------------------
+
+1.1.7 (2016-12-29)
+------------------
+
+1.1.6 (2016-04-01)
+------------------
+
+1.1.5 (2014-11-03)
+------------------
+
+1.0.4 (2014-09-04)
+------------------
+
+1.0.3 (2014-08-25)
+------------------
+
+1.0.2 (2014-03-31 15:55)
+------------------------
+
+1.0.1 (2014-03-31 11:03)
+------------------------
+
+1.0.0 (2014-03-24)
+------------------
diff --git a/ur12e_moveit_config/CMakeLists.txt b/ur12e_moveit_config/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ur12e_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/moveit_planning_execution.xml)
+endif()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur12e_moveit_config/LICENSE b/ur12e_moveit_config/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.