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Migration to ur_robot_driver & deprecation of ur_modern_driver #66

Closed gavanderhoorn closed 3 years ago

gavanderhoorn commented 4 years ago

Meta-issue for the migration to ur_robot_driver and the deprecation of ur_modern_driver.

ipa-nhg commented 4 years ago

@gavanderhoorn what is the status of this issue? A more generic question, from your point of view what should we do with the pending issues and PRs of the deprecated repository ur_modern_driver?

gavanderhoorn commented 4 years ago

I was sure I had a list of things to do and I had added that list here, but I can't find it any more.

ur_driver and ur_modern_driver have been marked as EOL and deprecated, both in their manifests as well as the wiki. The old tutorial (this one) has been marked as obsolete and also points to ur_robot_driver.

Deprecation of all drivers except ur_robot_driver has been announced on ROS Discourse: Deprecation of ur_modern_driver.

ur_driver will be removed from ros-industrial/universal_robot as part of ros-industrial/universal_robot#448.

ur_bringup (which still references ur_driver) will also be removed as part of ros-industrial/universal_robot#448.

ur_modern_driver will be kept around for CB1 and CB2 users (ur_robot_driver is not compatible).

gavanderhoorn commented 4 years ago

A more generic question, from your point of view what should we do with the pending issues and PRs of the deprecated repository ur_modern_driver?

We should address them as far as resources are available and we can replicate them.

CB1 and CB2 users cannot use ur_robot_driver, as it requires a CB3 (RTDE is needed). So from all the drivers in ros-industrial, ur_modern_driver is the only option for anything < CB3.

gavanderhoorn commented 4 years ago

As to whether this issue has been sufficiently addressed, I'm not sure.

I would probably suggest for someone to do a final check for references to ur_driver and/or ur_modern_driver which aren't accompanied by either a deprecation notice/warning or which don't make it clear those references are kept for historical purposes.

Perhaps a good candidate for WRID20.

ipa-nhg commented 4 years ago

As to whether this issue has been sufficiently addressed, I'm not sure.

I would probably suggest for someone to do a final check for references to ur_driver and/or ur_modern_driver which aren't accompanied by either a deprecation notice/warning or which don't make it clear those references are kept for historical purposes.

Perhaps a good candidate for WRID20.

I volunteer myself

ipa-nhg commented 3 years ago

@gavanderhoorn I vote for closing this issue.

For ur_modern_driver the README says clearly that it is deprecated https://github.com/ros-industrial/ur_modern_driver#deprecation-notice And the package ur_driver was deleted for the branch melodic-devel-staging, once it is merged into melodic-devel it will be completely clear that it is deprecated.

gavanderhoorn commented 3 years ago

Ok.

Thanks for checking.

We still get questions about this from time-to-time, but we can't pre-empt all of those I believe.