Verify robot model (backport #1779)

[mergify]

This is a manual backport of #1771 making the new feature opt-in rather than opt-out. This way, it will not change the behavior of existing systems.

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This is an automatic backport of pull request #1779 done by Mergify.

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Note

Medium Risk
Touches URPositionHardwareInterface::on_configure startup path and can now fail-fast when verify_robot_model is enabled or when custom configs omit the newly-required ur_type hardware param. Behavior remains unchanged by default (verify_robot_model=false), but misconfiguration could prevent the driver from configuring.

Overview
Adds an opt-in verify_robot_model parameter (plumbed through ur_rsp.launch.py and ur.urdf/ros2_control xacros) and updates the hardware interface to compare the configured ur_type against the robot-reported type/series during on_configure, failing with a fatal error on mismatch.

Introduces UR_ROBOT_DRIVER_RUN_ROBOT_MODELS_TEST and a new integration_test_robot_models.py that boots URSim for each supported model (plus a negative mismatch case); GitHub Actions enables this extra-long test only on PRs labeled release.

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[mergify]

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Changes to be committed:
	modified:   .github/workflows/reusable_ici.yml
	modified:   ur_robot_driver/CMakeLists.txt
	modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
	modified:   ur_robot_driver/launch/ur_rsp.launch.py
	new file:   ur_robot_driver/test/integration_test_robot_models.py
	modified:   ur_robot_driver/test/test_common.py
	modified:   ur_robot_driver/urdf/ur.ros2_control.xacro
	modified:   ur_robot_driver/urdf/ur.urdf.xacro

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ur_robot_driver/src/hardware_interface.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[cursor]

Cursor Bugbot has reviewed your changes using default mode and found 2 potential issues.

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[cursor]

verify_robot_model not forwarded through ur_control.launch.py

High Severity

The ur_control.launch.py file, which sits between the test/user and ur_rsp.launch.py, neither declares verify_robot_model as a launch argument nor forwards it in its rsp include (which only passes robot_ip and ur_type). The test sets "verify_robot_model": "true" targeting ur_control.launch.py, but this value is silently dropped — ur_rsp.launch.py always falls back to its default of "false". The entire robot model verification feature is therefore non-functional through the standard launch chain, and the negative mismatch test case would incorrectly pass.

Additional Locations (1)

• ur_robot_driver/launch/ur_rsp.launch.py#L47-L48

 

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[cursor]

Unconditional ur_type lookup crashes when parameter absent

High Severity

Lines 717–720 unconditionally read ur_type from hardware parameters and call robotTypeFromString, even when verify_robot_model is false (the default). If the URDF lacks the new ur_type param (e.g. any existing user who hasn't updated their xacro), robotTypeFromString("") throws std::invalid_argument outside any try-catch, crashing on_configure. These lines are only needed when verification is enabled and belong inside the if (verify_robot_model) block at line 728. This directly contradicts the PR's goal of making the feature opt-in without breaking existing setups.

 

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