Renamed get_version service to "GetRobotSoftwareVersion" everywhere

Author: URJala

ur_robot_driver/include/ur_robot_driver/hardware_interface.h

@@ -54,7 +54,7 @@
 #include <ur_msgs/SetIO.h>
 #include <ur_msgs/SetSpeedSliderFraction.h>
 #include <ur_msgs/SetPayload.h>
-#include <ur_msgs/GetVersion.h>
+#include <ur_msgs/GetRobotSoftwareVersion.h>
 
 #include <cartesian_interface/cartesian_command_interface.h>
 #include <cartesian_interface/cartesian_state_handle.h>
@@ -216,7 +216,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   void commandCallback(const std_msgs::StringConstPtr& msg);
   bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
   bool activateSplineInterpolation(std_srvs::SetBoolRequest& req, std_srvs::SetBoolResponse& res);
-  bool getVersion(ur_msgs::GetVersionRequest& req, ur_msgs::GetVersionResponse& res);
+  bool getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req, ur_msgs::GetRobotSoftwareVersionResponse& res);
 
   std::unique_ptr<urcl::UrDriver> ur_driver_;
   std::unique_ptr<DashboardClientROS> dashboard_client_;
@@ -241,7 +241,7 @@ class HardwareInterface : public hardware_interface::RobotHW
   ros::ServiceServer tare_sensor_srv_;
   ros::ServiceServer set_payload_srv_;
   ros::ServiceServer activate_spline_interpolation_srv_;
-  ros::ServiceServer get_version_srv;
+  ros::ServiceServer get_robot_software_version_srv;
 
   hardware_interface::JointStateInterface js_interface_;
   scaled_controllers::ScaledPositionJointInterface spj_interface_;

ur_robot_driver/src/hardware_interface.cpp

@@ -461,7 +461,7 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
       "activate_spline_interpolation", &HardwareInterface::activateSplineInterpolation, this);
 
   // Calling this service will return the software version of the robot.
-  get_version_srv = robot_hw_nh.advertiseService("get_version", &HardwareInterface::getVersion, this);
+  get_robot_software_version_srv = robot_hw_nh.advertiseService("get_robot_software_version", &HardwareInterface::getRobotSoftwareVersion, this);
 
   ur_driver_->startRTDECommunication();
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
@@ -1178,7 +1178,7 @@ bool HardwareInterface::setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::Set
   return true;
 }
 
-bool HardwareInterface::getVersion(ur_msgs::GetVersionRequest& req, ur_msgs::GetVersionResponse& res)
+bool HardwareInterface::getRobotSoftwareVersion(ur_msgs::GetRobotSoftwareVersionRequest& req, ur_msgs::GetRobotSoftwareVersionResponse& res)
 {
   urcl::VersionInformation version_info = this->ur_driver_->getVersion();
   res.major = version_info.major;

ur_robot_driver/test/integration_test.py

@@ -15,7 +15,7 @@
 from std_srvs.srv import Trigger, TriggerRequest
 import tf
 from trajectory_msgs.msg import JointTrajectoryPoint
-from ur_msgs.srv import SetIO, SetIORequest, GetVersion
+from ur_msgs.srv import SetIO, SetIORequest, GetRobotSoftwareVersion
 from ur_msgs.msg import IOStates
 
 from cartesian_control_msgs.msg import (
@@ -120,9 +120,9 @@ def init_robot(self):
                 "actually running in headless mode."
                 " Msg: {}".format(err))
 
-        self.get_version = rospy.ServiceProxy("ur_hardware_interface/get_version", GetVersion)
+        self.get_robot_software_version = rospy.ServiceProxy("ur_hardware_interface/get_robot_software_version", GetRobotSoftwareVersion)
         try:
-            self.get_version.wait_for_service(timeout)
+            self.get_robot_software_version.wait_for_service(timeout)
         except rospy.exceptions.ROSException as err:
             self.fail(
                 "Could not reach 'get version' service. Make sure that the driver is actually running."
@@ -287,7 +287,7 @@ def test_set_io(self):
         self.assertEqual(pin_state, 1)
 
     def test_tool_contact(self):
-        version_info = self.get_version.call()
+        version_info = self.get_robot_software_version.call()
         if version_info.major >= 5:
             start_response = self.start_tool_contact.call()
             self.assertEqual(start_response.success,True)