fix(arcor2_ur): velocity parameter was not shown

compose-files/ur-demo/docker-compose.lab.yml

@@ -0,0 +1,6 @@
+services:
+  ur-demo-robot-api:
+    ports:
+      - "50002:50002"  # robot connects to this port
+    environment:
+      - ROBOT_CONTAINER_NAME=ur-20245500974

compose-files/ur-demo/docker-compose.yml

@@ -12,11 +12,14 @@ services:
     volumes:
       - ursim-gui-cache:/ursim/GUI
       - urcap-build-cache:/ursim/.urcaps
+      - ursim-programs:/ursim/programs
   ur-demo-robot-api:
-    image: arcor2/arcor2_ur:1.2.0
+    image: arcor2/arcor2_ur:1.2.1
     container_name: ur-demo-robot-api
     ports:
       - "5012:5012"
+#    environment:
+#       - ARCOR2_UR_DEBUG=1
     networks:  # TODO use network_mode: "host" for the real robot
       - ur-demo-network
     restart: always  # the service tends to crash when calling PUT /state/stop
@@ -159,7 +162,7 @@ services:
       - ur-demo-asset
 
   ur-demo-upload-object-types:
-    image: arcor2/arcor2_ur_ot:1.2.0
+    image: arcor2/arcor2_ur_ot:1.2.1
     container_name: "ur-demo-upload-object-types"
     depends_on:
       ur-demo-project:
@@ -189,6 +192,7 @@ services:
 volumes:
   ursim-gui-cache:
   urcap-build-cache:
+  ursim-programs:
   ur-demo-asset:
   ur-demo-execution:
 

src/docker/arcor2_ur/BUILD

@@ -1,2 +1,2 @@
 shell_source(name="start.sh", source="start.sh")
-docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.2.0"])
+docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.2.1"])

src/docker/arcor2_ur_ot/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.2.0"])
+docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.2.1"])

src/python/arcor2_ur/CHANGELOG.md

@@ -2,6 +2,13 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.2.1] - 2024-09-30
+
+### Fixed
+
+- ROS logger was not set to debug when requested by argument/environment variable (however, it has no effect on moveitpy).
+- Parameter `velocity` not shown in Swagger UI.
+
 ## [1.2.0] - 2024-09-27
 
 ### Changed

src/python/arcor2_ur/VERSION

@@ -1 +1 @@
-1.2.0
+1.2.1

src/python/arcor2_ur/scripts/ur.py

@@ -87,7 +87,10 @@ def plan_and_execute(
 
 class MyNode(Node):
     def __init__(self, interact_with_dashboard=True) -> None:
-        super().__init__("my_node")
+        super().__init__("ur_api_node", enable_logger_service=True)
+        if globs.debug:
+            # TODO makes no difference for moveitpy :-/
+            rclpy.logging.set_logger_level("ur_api_node", rclpy.logging.LoggingSeverity.DEBUG)
 
         self.buffer = Buffer()
         self.listener = TransformListener(self.buffer, self)
@@ -241,6 +244,7 @@ def __post_init__(self) -> None:
 
 @dataclass
 class Globs:
+    debug = False
     state: State | None = None
     # lock: threading.Lock = threading.Lock()
 
@@ -571,14 +575,15 @@ def put_eef_pose() -> RespT:
                 format: float
                 minimum: 0
                 maximum: 100
-        parameters:
+                default: 50
             - name: payload
               in: query
               schema:
                 type: number
                 format: float
                 minimum: 0
                 maximum: 5
+                default: 0
         requestBody:
               content:
                 application/json:
@@ -648,6 +653,7 @@ def main() -> None:
 
     args = parser.parse_args()
     logger.setLevel(args.debug)
+    globs.debug = args.debug
 
     # TODO there will be a ROS-specific scene service
     # if not args.swagger: