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UniversalRobots / Universal_Robots_Client_Library

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.
Apache License 2.0
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Error on initiating URCaps: name "tool_contact" is not defined #185

Closed Antonione closed 11 months ago

Antonione commented 11 months ago

Affected Client Library version(s)

1.3.3

What combination of platform is the Client Library running on.

Linux

How did you install the Client Library

From ROS binary packets

Which robot platform is the library connected to.

UR E-series robot

Robot SW / URSim version(s)

?

How are you using the Client Library

Through the robot teach pendant using External Control URCap

Issue details

Summary

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Issue details

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Steps to Reproduce

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Expected Behavior

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Actual Behavior

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Workaround Suggestion

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Relevant log output

Upon attempting to initiate URCaps via the pedant, I encountered the following error message: name "tool_contact" is not defined. After initial investigation, I surmised that the error might be related to the file /ur_client_library/external_control.urscript, which I believe interfaces with URCaps.

Within the aforementioned file, I noticed the presence of an undeclared and unimported function called tool_contact, which appears to be causing the mentioned error.

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fmauch commented 11 months ago

This looks like you need to update your robot's software. In the issue you mentioned that you don't know your robot's software version. It is rather simple to update: https://www.universal-robots.com/download/software-e-series/update/latest-polyscope-software-update-sw-5143-e-seriesur20/

As the README suggests, you'll need at least software version 3.14.3 on a CB3 or 5.9.4 on an e-Series robot.

I'll close this issue since it seems to be resolved on the user side. Please feel free to comment and/or reopen if the issue persists and is not resolved by installing a newer software on the robot.