This is a big one. The main new features are the support for the new UR18 and support for direct torque control.
What's Changed
New features
- Update RTDE list to include new fields by @URJala in #380
- Direct torque control by @urfeex in #381
- UR18 support by @urfeex in #387
Bugfixes
- Add const qualifier to get functions and changed map value retrieval to at() function by @PabloDArandaR in #379
- Set force mode parameters from config by @domire8 in #383
- Remove bit_registers_0...63 from RTDE list by @URJala in #385
New Contributors
- @PabloDArandaR made their first contribution in #379
Full Changelog: 2.3.0...2.4.0
Contributors
PabloDArandaR, domire8, and 2 other contributors