From 8e0b2779a1da4355862c7d2ba993e53f66628cd2 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 10:20:17 +0100
Subject: [PATCH 01/99] outsourced updateNonDoubleValues() in helper: build and
 launch successfull

---
 .../ur_robot_driver/hardware_interface.hpp    |  5 ++
 .../ur_robot_driver/ur_state_helper.hpp       | 58 +++++++++++++++++
 ur_robot_driver/src/hardware_interface.cpp    | 62 ++++++++++++-------
 3 files changed, 101 insertions(+), 24 deletions(-)
 create mode 100644 ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 14bdd29ea..4d986be65 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -63,6 +63,9 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
+// Helper class to outsource state interface stuff
+#include "ur_robot_driver/ur_state_helper.hpp"
+
 namespace ur_robot_driver
 {
 enum class PausingState
@@ -304,6 +307,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   const std::string PASSTHROUGH_GPIO = "trajectory_passthrough";
   const std::string FORCE_MODE_GPIO = "force_mode";
   const std::string FREEDRIVE_MODE_GPIO = "freedrive_mode";
+
+  URStateHelper state_helper_; // Helper class to handle state interface stuff
 };
 }  // namespace ur_robot_driver
 
diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
new file mode 100644
index 000000000..42b10d314
--- /dev/null
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -0,0 +1,58 @@
+#pragma once
+
+#include "ur_robot_driver/hardware_interface.hpp"
+#include <bitset>
+#include <vector>
+#include <array>
+
+namespace ur_robot_driver
+{
+
+class URStateHelper
+{
+public:
+    URStateHelper() = default; 
+
+    void update_non_double_values(
+        const std::bitset<18>& actual_dig_out_bits, std::array<double, 18>& actual_dig_out_bits_copy,
+        const std::bitset<18>& actual_dig_in_bits, std::array<double, 18>& actual_dig_in_bits_copy,
+        const std::bitset<11>& safety_status_bits, std::array<double, 11>& safety_status_bits_copy,
+        const std::bitset<4>& analog_io_types, std::array<double, 4>& analog_io_types_copy,
+        const std::bitset<4>& robot_status_bits, std::array<double, 4>& robot_status_bits_copy,
+        const std::bitset<2>& tool_analog_input_types, std::array<double, 2>& tool_analog_input_types_copy,
+        uint8_t tool_output_voltage, double& tool_output_voltage_copy,
+        uint8_t robot_mode, double& robot_mode_copy,
+        uint8_t safety_mode, double& safety_mode_copy,
+        uint8_t tool_mode, double& tool_mode_copy,
+        bool initialized, double& system_interface_initialized,
+        bool robot_program_running, double& robot_program_running_copy)
+    {
+        for (size_t i = 0; i < 18; ++i) {
+            actual_dig_out_bits_copy[i] = static_cast<double>(actual_dig_out_bits[i]);
+            actual_dig_in_bits_copy[i] = static_cast<double>(actual_dig_in_bits[i]);
+        }
+
+        for (size_t i = 0; i < 11; ++i) {
+            safety_status_bits_copy[i] = static_cast<double>(safety_status_bits[i]);
+        }
+
+        for (size_t i = 0; i < 4; ++i) {
+            analog_io_types_copy[i] = static_cast<double>(analog_io_types[i]);
+            robot_status_bits_copy[i] = static_cast<double>(robot_status_bits[i]);
+        }
+
+        for (size_t i = 0; i < 2; ++i) {
+            tool_analog_input_types_copy[i] = static_cast<double>(tool_analog_input_types[i]);
+        }
+
+        tool_output_voltage_copy = static_cast<double>(tool_output_voltage);
+        robot_mode_copy = static_cast<double>(robot_mode);
+        safety_mode_copy = static_cast<double>(safety_mode);
+        tool_mode_copy = static_cast<double>(tool_mode);
+        system_interface_initialized = initialized ? 1.0 : 0.0;
+        robot_program_running_copy = robot_program_running ? 1.0 : 0.0;
+    }
+
+};
+
+}  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 216d7d462..189bd012a 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -896,30 +896,44 @@ void URPositionHardwareInterface::checkAsyncIO()
 
 void URPositionHardwareInterface::updateNonDoubleValues()
 {
-  for (size_t i = 0; i < 18; ++i) {
-    actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
-    actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
-  }
-
-  for (size_t i = 0; i < 11; ++i) {
-    safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
-  }
-
-  for (size_t i = 0; i < 4; ++i) {
-    analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
-    robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
-  }
-
-  for (size_t i = 0; i < 2; ++i) {
-    tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
-  }
-
-  tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
-  robot_mode_copy_ = static_cast<double>(robot_mode_);
-  safety_mode_copy_ = static_cast<double>(safety_mode_);
-  tool_mode_copy_ = static_cast<double>(tool_mode_);
-  system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
-  robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
+  // for (size_t i = 0; i < 18; ++i) {
+  //   actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
+  //   actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
+  // }
+
+  // for (size_t i = 0; i < 11; ++i) {
+  //   safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
+  // }
+
+  // for (size_t i = 0; i < 4; ++i) {
+  //   analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
+  //   robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
+  // }
+
+  // for (size_t i = 0; i < 2; ++i) {
+  //   tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
+  // }
+
+  // tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
+  // robot_mode_copy_ = static_cast<double>(robot_mode_);
+  // safety_mode_copy_ = static_cast<double>(safety_mode_);
+  // tool_mode_copy_ = static_cast<double>(tool_mode_);
+  // system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
+  // robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
+
+  state_helper_.update_non_double_values(
+        actual_dig_out_bits_, actual_dig_out_bits_copy_,
+        actual_dig_in_bits_, actual_dig_in_bits_copy_,
+        safety_status_bits_, safety_status_bits_copy_,
+        analog_io_types_, analog_io_types_copy_,
+        robot_status_bits_, robot_status_bits_copy_,
+        tool_analog_input_types_, tool_analog_input_types_copy_,
+        tool_output_voltage_, tool_output_voltage_copy_,
+        robot_mode_, robot_mode_copy_,
+        safety_mode_, safety_mode_copy_,
+        tool_mode_, tool_mode_copy_,
+        initialized_, system_interface_initialized_,
+        robot_program_running_, robot_program_running_copy_);
 }
 
 void URPositionHardwareInterface::transformForceTorque()

From f39acad88d8994c57e28a60ce918c5891bc9496c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 12:25:38 +0100
Subject: [PATCH 02/99] outsourced export_state_interfaces() in helper: build
 and launch successfull

---
 .../ur_robot_driver/ur_state_helper.hpp       | 113 ++++++++-
 ur_robot_driver/src/hardware_interface.cpp    | 230 +++++++++++-------
 2 files changed, 251 insertions(+), 92 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 42b10d314..07742fd2d 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -13,6 +13,118 @@ class URStateHelper
 public:
     URStateHelper() = default; 
 
+    static std::vector<hardware_interface::StateInterface> generate_state_interfaces(
+        std::vector<std::string>& joint_names,
+        urcl::vector6d_t& urcl_joint_positions,
+        urcl::vector6d_t& urcl_joint_velocities,
+        urcl::vector6d_t& urcl_joint_efforts,
+        std::string& tf_prefix,
+        std::vector<std::string>& sensor_names,
+        urcl::vector6d_t& urcl_ft_sensor_measurements,
+        std::array<double, 18>& actual_dig_out_bits,
+        std::array<double, 18>& actual_dig_in_bits,
+        std::array<double, 11>& safety_status_bits,
+        std::array<double, 4>& analog_io_types,
+        std::array<double, 4>& robot_status_bits,
+        std::array<double, 2>& tool_analog_input_types,
+        std::array<double, 2>& tool_analog_input,
+        std::array<double, 2>& standard_analog_input,
+        std::array<double, 2>& standard_analog_output,
+        double& tool_output_voltage,
+        double& robot_mode,
+        double& safety_mode,
+        double& tool_mode,
+        double& tool_output_current,
+        double& tool_temperature,
+        double& speed_scaling_combined,
+        double& system_interface_initialized,
+        double& robot_program_running,
+        urcl::vector6d_t& urcl_tcp_pose,
+        double& tcp_rotation_buffer_x,
+        double& tcp_rotation_buffer_y,
+        double& tcp_rotation_buffer_z,
+        double& tcp_rotation_buffer_w,
+        double& get_robot_software_version_major,
+        double& get_robot_software_version_minor,
+        double& get_robot_software_version_bugfix,
+        double& get_robot_software_version_build)
+    {
+        std::vector<hardware_interface::StateInterface> state_interfaces;
+
+        // Joints
+        for (size_t i = 0; i < joint_names.size(); ++i) {
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts[i]));
+        }
+
+        // Speed scaling
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor", &speed_scaling_combined));
+
+        // Force-torque sensor
+        for (const auto& sensor : sensor_names) {
+            if (sensor == tf_prefix + "tcp_fts_sensor") {
+                const std::vector<std::string> fts_names = {
+                    "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
+                };
+                for (uint j = 0; j < 6; ++j) {
+                    state_interfaces.emplace_back(hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements[j]));
+                }
+            }
+        }
+
+        // GPIO
+        for (size_t i = 0; i < 18; ++i) {
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits[i]));
+        }
+
+        for (size_t i = 0; i < 11; ++i) {
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits[i]));
+        }
+
+        for (size_t i = 0; i < 4; ++i) {
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits[i]));
+        }
+       
+        for (size_t i = 0; i < 2; ++i) {
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output[i]));
+        }
+
+        // Other states
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized", &system_interface_initialized));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running));
+
+        // TCP pose
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose[0]));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose[1]));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose[2]));
+
+        // TCP rotation
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_x));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_y));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_z));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_w));
+
+        // Software version
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build));
+
+        return state_interfaces;
+    }
+
     void update_non_double_values(
         const std::bitset<18>& actual_dig_out_bits, std::array<double, 18>& actual_dig_out_bits_copy,
         const std::bitset<18>& actual_dig_in_bits, std::array<double, 18>& actual_dig_in_bits_copy,
@@ -52,7 +164,6 @@ class URStateHelper
         system_interface_initialized = initialized ? 1.0 : 0.0;
         robot_program_running_copy = robot_program_running ? 1.0 : 0.0;
     }
-
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 189bd012a..f18b2784b 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -154,121 +154,169 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
 
 std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::export_state_interfaces()
 {
-  std::vector<hardware_interface::StateInterface> state_interfaces;
-  for (size_t i = 0; i < info_.joints.size(); ++i) {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
+  // std::vector<hardware_interface::StateInterface> state_interfaces;
+  // for (size_t i = 0; i < info_.joints.size(); ++i) {
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       info_.joints[i].name, hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
 
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
 
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
-  }
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
+  // }
 
-  // Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
-  // NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio
-  // state interface in info_ and match them accordingly
-  const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
-  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor",
-                                                                   &speed_scaling_combined_));
-
-  for (auto& sensor : info_.sensors) {
-    if (sensor.name == tf_prefix + "tcp_fts_sensor") {
-      const std::vector<std::string> fts_names = {
-        "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
-      };
-      for (uint j = 0; j < 6; ++j) {
-        state_interfaces.emplace_back(
-            hardware_interface::StateInterface(sensor.name, fts_names[j], &urcl_ft_sensor_measurements_[j]));
-      }
-    }
-  }
+  // // Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
+  // // NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio
+  // // state interface in info_ and match them accordingly
+  // const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor",
+  //                                                                  &speed_scaling_combined_));
+
+  // for (auto& sensor : info_.sensors) {
+  //   if (sensor.name == tf_prefix + "tcp_fts_sensor") {
+  //     const std::vector<std::string> fts_names = {
+  //       "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
+  //     };
+  //     for (uint j = 0; j < 6; ++j) {
+  //       state_interfaces.emplace_back(
+  //           hardware_interface::StateInterface(sensor.name, fts_names[j], &urcl_ft_sensor_measurements_[j]));
+  //     }
+  //   }
+  // }
 
-  for (size_t i = 0; i < 18; ++i) {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
-  }
+  // for (size_t i = 0; i < 18; ++i) {
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
+  // }
 
-  for (size_t i = 0; i < 11; ++i) {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
-  }
+  // for (size_t i = 0; i < 11; ++i) {
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
+  // }
 
-  for (size_t i = 0; i < 4; ++i) {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
-  }
+  // for (size_t i = 0; i < 4; ++i) {
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
+  // }
 
-  for (size_t i = 0; i < 2; ++i) {
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
+  // for (size_t i = 0; i < 2; ++i) {
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
 
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
 
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
 
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
-  }
+  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //       tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
+  // }
+
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
+  //                                                                  &system_interface_initialized_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
-                                                                   &system_interface_initialized_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
+  // state_interfaces.emplace_back(
+  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
 
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //     tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-      tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //     tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-      tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //     tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-      tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
+  // state_interfaces.emplace_back(hardware_interface::StateInterface(
+  //     tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
 
-  state_interfaces.emplace_back(hardware_interface::StateInterface(
-      tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
+  // return state_interfaces;
+
+  // extract joint names
+  std::vector<std::string> joint_names;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    joint_names.push_back(info_.joints[i].name);
+  }
+
+  // extract sensor names
+  std::vector<std::string> sensor_names;
+  for (size_t i = 0; i < info_.sensors.size(); ++i) {
+    sensor_names.push_back(info_.sensors[i].name);
+  }
 
-  return state_interfaces;
+  return state_helper_.generate_state_interfaces(
+    joint_names, 
+    urcl_joint_positions_,
+    urcl_joint_velocities_,
+    urcl_joint_efforts_,
+    info_.hardware_parameters.at("tf_prefix"),
+    sensor_names,
+    urcl_ft_sensor_measurements_,
+    actual_dig_out_bits_copy_,
+    actual_dig_in_bits_copy_,
+    safety_status_bits_copy_,
+    analog_io_types_copy_,
+    robot_status_bits_copy_,
+    tool_analog_input_types_copy_,
+    tool_analog_input_,
+    standard_analog_input_,
+    standard_analog_output_,
+    tool_output_voltage_copy_,
+    robot_mode_copy_,
+    safety_mode_copy_,
+    tool_mode_copy_,
+    tool_output_current_,
+    tool_temperature_,
+    speed_scaling_combined_,
+    system_interface_initialized_,
+    robot_program_running_copy_,
+    urcl_tcp_pose_,
+    tcp_rotation_buffer.x,
+    tcp_rotation_buffer.y,
+    tcp_rotation_buffer.z,
+    tcp_rotation_buffer.w,
+    get_robot_software_version_major_,
+    get_robot_software_version_minor_,
+    get_robot_software_version_bugfix_,
+    get_robot_software_version_build_);
 }
 
 std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::export_command_interfaces()

From d67a26136f3ca139f4b149df283ca8566b01663f Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 15:15:28 +0100
Subject: [PATCH 03/99] outsourced readData() in helper: build and launch
 successfull

---
 .../include/ur_robot_driver/ur_state_helper.hpp    | 14 ++++++++++++++
 ur_robot_driver/src/hardware_interface.cpp         | 11 ++++++-----
 2 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 07742fd2d..373980770 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -5,6 +5,8 @@
 #include <vector>
 #include <array>
 
+namespace rtde = urcl::rtde_interface;
+
 namespace ur_robot_driver
 {
 
@@ -164,6 +166,18 @@ class URStateHelper
         system_interface_initialized = initialized ? 1.0 : 0.0;
         robot_program_running_copy = robot_program_running ? 1.0 : 0.0;
     }
+
+
+    template <typename T>
+    static void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
+    {
+        if (!data_pkg->getData(var_name, data)) {
+            // This throwing should never happen unless misconfigured
+            std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+            throw std::runtime_error(error_msg);
+        }
+    }
+
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index f18b2784b..00a40aa55 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -662,11 +662,12 @@ template <typename T>
 void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
                                            const std::string& var_name, T& data)
 {
-  if (!data_pkg->getData(var_name, data)) {
-    // This throwing should never happen unless misconfigured
-    std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-    throw std::runtime_error(error_msg);
-  }
+  // if (!data_pkg->getData(var_name, data)) {
+  //   // This throwing should never happen unless misconfigured
+  //   std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+  //   throw std::runtime_error(error_msg);
+  // }
+  state_helper_.read_data(data_pkg, var_name, data);
 }
 
 template <typename T, size_t N>

From ad6aa998119054f5deb0b3c2d0b42a2f61b20302 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 15:54:52 +0100
Subject: [PATCH 04/99] outsourced readBitsetData() in helper: build and launch
 successfull

---
 .../ur_robot_driver/ur_state_helper.hpp       |  13 +-
 ur_robot_driver/src/hardware_interface.cpp    | 112 +++++++++++-------
 2 files changed, 79 insertions(+), 46 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 373980770..8cce5c021 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -171,13 +171,22 @@ class URStateHelper
     template <typename T>
     static void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
     {
-        if (!data_pkg->getData(var_name, data)) {
+    if (!data_pkg->getData(var_name, data)) {
+        // This throwing should never happen unless misconfigured
+        std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+        throw std::runtime_error(error_msg);
+    }
+    }
+
+    template <typename T, size_t N>
+    static void read_bitset_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
+    {
+        if (!data_pkg->getData<T, N>(var_name, data)) {
             // This throwing should never happen unless misconfigured
             std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
             throw std::runtime_error(error_msg);
         }
     }
-
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 00a40aa55..3ae75df13 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -658,28 +658,27 @@ URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
-template <typename T>
-void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
-                                           const std::string& var_name, T& data)
-{
+// template <typename T>
+// void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
+//                                            const std::string& var_name, T& data)
+// {
   // if (!data_pkg->getData(var_name, data)) {
   //   // This throwing should never happen unless misconfigured
   //   std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
   //   throw std::runtime_error(error_msg);
   // }
-  state_helper_.read_data(data_pkg, var_name, data);
-}
-
-template <typename T, size_t N>
-void URPositionHardwareInterface::readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
-                                                 const std::string& var_name, std::bitset<N>& data)
-{
-  if (!data_pkg->getData<T, N>(var_name, data)) {
-    // This throwing should never happen unless misconfigured
-    std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-    throw std::runtime_error(error_msg);
-  }
-}
+// }
+
+// template <typename T, size_t N>
+// void URPositionHardwareInterface::readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
+//                                                  const std::string& var_name, std::bitset<N>& data)
+// {
+//   if (!data_pkg->getData<T, N>(var_name, data)) {
+//     // This throwing should never happen unless misconfigured
+//     std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+//     throw std::runtime_error(error_msg);
+//   }
+// }
 
 void URPositionHardwareInterface::asyncThread()
 {
@@ -706,33 +705,58 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
   if (data_pkg) {
     packet_read_ = true;
-    readData(data_pkg, "actual_q", urcl_joint_positions_);
-    readData(data_pkg, "actual_qd", urcl_joint_velocities_);
-    readData(data_pkg, "actual_current", urcl_joint_efforts_);
-
-    readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
-    readData(data_pkg, "speed_scaling", speed_scaling_);
-    readData(data_pkg, "runtime_state", runtime_state_);
-    readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-    readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-    readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-    readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-    readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-    readData(data_pkg, "tool_mode", tool_mode_);
-    readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-    readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-    readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
-    readData(data_pkg, "tool_output_current", tool_output_current_);
-    readData(data_pkg, "tool_temperature", tool_temperature_);
-    readData(data_pkg, "robot_mode", robot_mode_);
-    readData(data_pkg, "safety_mode", safety_mode_);
-    readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-    readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-    readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-    readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-    readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-    readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+    // readData(data_pkg, "actual_q", urcl_joint_positions_);
+    // readData(data_pkg, "actual_qd", urcl_joint_velocities_);
+    // readData(data_pkg, "actual_current", urcl_joint_efforts_);
+    // readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
+    // readData(data_pkg, "speed_scaling", speed_scaling_);
+    // readData(data_pkg, "runtime_state", runtime_state_);
+    // readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+    // readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    // readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+    // readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+    // readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+    // readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+    // readData(data_pkg, "tool_mode", tool_mode_);
+    // readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+    // readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+    // readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
+    // readData(data_pkg, "tool_output_current", tool_output_current_);
+    // readData(data_pkg, "tool_temperature", tool_temperature_);
+    // readData(data_pkg, "robot_mode", robot_mode_);
+    // readData(data_pkg, "safety_mode", safety_mode_);
+    // readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+    // readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    // readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+    // readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+    // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+    // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+    state_helper_.read_data(data_pkg, "actual_q", urcl_joint_positions_);
+    state_helper_.read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
+    state_helper_.read_data(data_pkg, "actual_current", urcl_joint_efforts_);
+    state_helper_.read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
+    state_helper_.read_data(data_pkg, "speed_scaling", speed_scaling_);
+    state_helper_.read_data(data_pkg, "runtime_state", runtime_state_);
+    state_helper_.read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+    state_helper_.read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    state_helper_.read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+    state_helper_.read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+    state_helper_.read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+    state_helper_.read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+    state_helper_.read_data(data_pkg, "tool_mode", tool_mode_);
+    state_helper_.read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+    state_helper_.read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+    state_helper_.read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
+    state_helper_.read_data(data_pkg, "tool_output_current", tool_output_current_);
+    state_helper_.read_data(data_pkg, "tool_temperature", tool_temperature_);
+    state_helper_.read_data(data_pkg, "robot_mode", robot_mode_);
+    state_helper_.read_data(data_pkg, "safety_mode", safety_mode_);
+    state_helper_.read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+    state_helper_.read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+    state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+    state_helper_.read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+    state_helper_.read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
 
     // required transforms
     extractToolPose();

From 56530c202b29da38a0f1d8b8615201aed59c06dc Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 16:11:59 +0100
Subject: [PATCH 05/99] outsourced quaternion definition

---
 .../ur_robot_driver/hardware_interface.hpp    | 39 +++++-----
 .../include/ur_robot_driver/quaternion.hpp    | 71 +++++++++++++++++++
 2 files changed, 91 insertions(+), 19 deletions(-)
 create mode 100644 ur_robot_driver/include/ur_robot_driver/quaternion.hpp

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 4d986be65..14fcc9642 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -65,6 +65,7 @@
 
 // Helper class to outsource state interface stuff
 #include "ur_robot_driver/ur_state_helper.hpp"
+#include "ur_robot_driver/quaternion.hpp"
 
 namespace ur_robot_driver
 {
@@ -87,25 +88,25 @@ enum StoppingInterface
 
 // We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
 // interfaces.
-struct Quaternion
-{
-  Quaternion() : x(0), y(0), z(0), w(0)
-  {
-  }
-
-  void set(const tf2::Quaternion& q)
-  {
-    x = q.x();
-    y = q.y();
-    z = q.z();
-    w = q.w();
-  }
-
-  double x;
-  double y;
-  double z;
-  double w;
-};
+// struct Quaternion
+// {
+//   Quaternion() : x(0), y(0), z(0), w(0)
+//   {
+//   }
+
+//   void set(const tf2::Quaternion& q)
+//   {
+//     x = q.x();
+//     y = q.y();
+//     z = q.z();
+//     w = q.w();
+//   }
+
+//   double x;
+//   double y;
+//   double z;
+//   double w;
+// };
 
 /*!
  * \brief The HardwareInterface class handles the interface between the ROS system and the main
diff --git a/ur_robot_driver/include/ur_robot_driver/quaternion.hpp b/ur_robot_driver/include/ur_robot_driver/quaternion.hpp
new file mode 100644
index 000000000..feae8a9a1
--- /dev/null
+++ b/ur_robot_driver/include/ur_robot_driver/quaternion.hpp
@@ -0,0 +1,71 @@
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lovro Ivanov lovro.ivanov@gmail.com
+ * \author  Andy Zelenak zelenak@picknik.ai
+ * \author  Marvin Große Besselmann grosse@fzi.de
+ * \date    2019-04-11
+ *
+ */
+//----------------------------------------------------------------------
+#ifndef UR_ROBOT_DRIVER__QUATERNION_HPP_
+#define UR_ROBOT_DRIVER__QUATERNION_HPP_
+
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
+namespace ur_robot_driver
+{
+// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
+// interfaces.
+struct Quaternion
+{
+  Quaternion() : x(0), y(0), z(0), w(0)
+  {
+  }
+
+  void set(const tf2::Quaternion& q)
+  {
+    x = q.x();
+    y = q.y();
+    z = q.z();
+    w = q.w();
+  }
+
+  double x;
+  double y;
+  double z;
+  double w;
+};
+
+
+}  // namespace ur_robot_driver
+
+#endif  // UR_ROBOT_DRIVER__QUATERNION_HPP_

From e603b378a3296ebf83c9692cdbc20394a6f05b75 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 16:13:37 +0100
Subject: [PATCH 06/99] outsourced extractToolPose() in helper: build and
 launch successfull

---
 .../ur_robot_driver/ur_state_helper.hpp       | 21 ++++++++++++-
 ur_robot_driver/src/hardware_interface.cpp    | 31 ++++++++++---------
 2 files changed, 36 insertions(+), 16 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 8cce5c021..82681ebd9 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "ur_robot_driver/hardware_interface.hpp"
+#include "ur_robot_driver/quaternion.hpp"
 #include <bitset>
 #include <vector>
 #include <array>
@@ -187,6 +187,25 @@ class URStateHelper
             throw std::runtime_error(error_msg);
         }
     }
+
+    static void extract_tool_pose(
+        urcl::vector6d_t& urcl_tcp_pose,
+        tf2::Quaternion& tcp_rotation_quat,
+        Quaternion& tcp_rotation_buffer)
+    {
+        // imported from ROS1 driver hardware_interface.cpp#L911-L928
+        double tcp_angle =
+            std::sqrt(std::pow(urcl_tcp_pose[3], 2) + std::pow(urcl_tcp_pose[4], 2) + std::pow(urcl_tcp_pose[5], 2));
+
+        tf2::Vector3 rotation_vec(urcl_tcp_pose[3], urcl_tcp_pose[4], urcl_tcp_pose[5]);
+        if (tcp_angle > 1e-16) {
+            tcp_rotation_quat.setRotation(rotation_vec.normalized(), tcp_angle);
+        } else {
+            tcp_rotation_quat.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
+        }
+        tcp_rotation_buffer.set(tcp_rotation_quat);
+    }
+
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 3ae75df13..cba1ef375 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -759,7 +759,8 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     state_helper_.read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
 
     // required transforms
-    extractToolPose();
+    // extractToolPose();
+    state_helper_.extract_tool_pose(urcl_tcp_pose_, tcp_rotation_quat_, tcp_rotation_buffer);
     transformForceTorque();
 
     // TODO(anyone): logic for sending other stuff to higher level interface
@@ -1024,20 +1025,20 @@ void URPositionHardwareInterface::transformForceTorque()
                                    tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
 }
 
-void URPositionHardwareInterface::extractToolPose()
-{
-  // imported from ROS1 driver hardware_interface.cpp#L911-L928
-  double tcp_angle =
-      std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
-
-  tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
-  if (tcp_angle > 1e-16) {
-    tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
-  } else {
-    tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
-  }
-  tcp_rotation_buffer.set(tcp_rotation_quat_);
-}
+// void URPositionHardwareInterface::extractToolPose()
+// {
+//   // imported from ROS1 driver hardware_interface.cpp#L911-L928
+//   double tcp_angle =
+//       std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
+
+//   tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
+//   if (tcp_angle > 1e-16) {
+//     tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
+//   } else {
+//     tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
+//   }
+//   tcp_rotation_buffer.set(tcp_rotation_quat_);
+// }
 
 hardware_interface::return_type URPositionHardwareInterface::prepare_command_mode_switch(
     const std::vector<std::string>& start_interfaces, const std::vector<std::string>& stop_interfaces)

From b9dfa02cfd4d5923c4b2aef6426e49465d66607a Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 16:25:02 +0100
Subject: [PATCH 07/99] outsourced transformForceTorque() in helper: build and
 launch successfull

---
 .../ur_robot_driver/ur_state_helper.hpp       | 18 ++++++
 ur_robot_driver/src/hardware_interface.cpp    | 61 ++++++++++---------
 2 files changed, 49 insertions(+), 30 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 82681ebd9..09b4e0fce 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -206,6 +206,24 @@ class URStateHelper
         tcp_rotation_buffer.set(tcp_rotation_quat);
     }
 
+    static void transform_force_torque(
+        tf2::Quaternion& tcp_rotation_quat,
+        tf2::Vector3& tcp_force,
+        tf2::Vector3& tcp_torque,
+        urcl::vector6d_t& urcl_ft_sensor_measurements)
+    {
+        // imported from ROS1 driver - hardware_interface.cpp#L867-L876
+        tcp_force.setValue(urcl_ft_sensor_measurements[0], urcl_ft_sensor_measurements[1],
+                            urcl_ft_sensor_measurements[2]);
+        tcp_torque.setValue(urcl_ft_sensor_measurements[3], urcl_ft_sensor_measurements[4],
+                            urcl_ft_sensor_measurements[5]);
+
+        tcp_force = tf2::quatRotate(tcp_rotation_quat.inverse(), tcp_force);
+        tcp_torque = tf2::quatRotate(tcp_rotation_quat.inverse(), tcp_torque);
+
+        urcl_ft_sensor_measurements = { tcp_force.x(),  tcp_force.y(),  tcp_force.z(),
+                                        tcp_torque.x(), tcp_torque.y(), tcp_torque.z() };
+    }
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index cba1ef375..ad89052c1 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -761,7 +761,8 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // required transforms
     // extractToolPose();
     state_helper_.extract_tool_pose(urcl_tcp_pose_, tcp_rotation_quat_, tcp_rotation_buffer);
-    transformForceTorque();
+    // transformForceTorque();
+    state_helper_.transform_force_torque(tcp_rotation_quat_, tcp_force_, tcp_torque_, urcl_ft_sensor_measurements_);
 
     // TODO(anyone): logic for sending other stuff to higher level interface
 
@@ -806,7 +807,20 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
       initialized_ = true;
     }
 
-    updateNonDoubleValues();
+    // updateNonDoubleValues();
+    state_helper_.update_non_double_values(
+      actual_dig_out_bits_, actual_dig_out_bits_copy_,
+      actual_dig_in_bits_, actual_dig_in_bits_copy_,
+      safety_status_bits_, safety_status_bits_copy_,
+      analog_io_types_, analog_io_types_copy_,
+      robot_status_bits_, robot_status_bits_copy_,
+      tool_analog_input_types_, tool_analog_input_types_copy_,
+      tool_output_voltage_, tool_output_voltage_copy_,
+      robot_mode_, robot_mode_copy_,
+      safety_mode_, safety_mode_copy_,
+      tool_mode_, tool_mode_copy_,
+      initialized_, system_interface_initialized_,
+      robot_program_running_, robot_program_running_copy_);
 
     return hardware_interface::return_type::OK;
   }
@@ -968,8 +982,8 @@ void URPositionHardwareInterface::checkAsyncIO()
   }
 }
 
-void URPositionHardwareInterface::updateNonDoubleValues()
-{
+// void URPositionHardwareInterface::updateNonDoubleValues()
+// {
   // for (size_t i = 0; i < 18; ++i) {
   //   actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
   //   actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
@@ -995,35 +1009,22 @@ void URPositionHardwareInterface::updateNonDoubleValues()
   // system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
   // robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
 
-  state_helper_.update_non_double_values(
-        actual_dig_out_bits_, actual_dig_out_bits_copy_,
-        actual_dig_in_bits_, actual_dig_in_bits_copy_,
-        safety_status_bits_, safety_status_bits_copy_,
-        analog_io_types_, analog_io_types_copy_,
-        robot_status_bits_, robot_status_bits_copy_,
-        tool_analog_input_types_, tool_analog_input_types_copy_,
-        tool_output_voltage_, tool_output_voltage_copy_,
-        robot_mode_, robot_mode_copy_,
-        safety_mode_, safety_mode_copy_,
-        tool_mode_, tool_mode_copy_,
-        initialized_, system_interface_initialized_,
-        robot_program_running_, robot_program_running_copy_);
-}
+// }
 
-void URPositionHardwareInterface::transformForceTorque()
-{
-  // imported from ROS1 driver - hardware_interface.cpp#L867-L876
-  tcp_force_.setValue(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1],
-                      urcl_ft_sensor_measurements_[2]);
-  tcp_torque_.setValue(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4],
-                       urcl_ft_sensor_measurements_[5]);
+// void URPositionHardwareInterface::transformForceTorque()
+// {
+//   // imported from ROS1 driver - hardware_interface.cpp#L867-L876
+//   tcp_force_.setValue(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1],
+//                       urcl_ft_sensor_measurements_[2]);
+//   tcp_torque_.setValue(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4],
+//                        urcl_ft_sensor_measurements_[5]);
 
-  tcp_force_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_force_);
-  tcp_torque_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_torque_);
+//   tcp_force_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_force_);
+//   tcp_torque_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_torque_);
 
-  urcl_ft_sensor_measurements_ = { tcp_force_.x(),  tcp_force_.y(),  tcp_force_.z(),
-                                   tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
-}
+//   urcl_ft_sensor_measurements_ = { tcp_force_.x(),  tcp_force_.y(),  tcp_force_.z(),
+//                                    tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
+// }
 
 // void URPositionHardwareInterface::extractToolPose()
 // {

From 0bdc8e1a7a2db667830be5e803253d456fcefbe3 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 26 Mar 2025 17:47:40 +0100
Subject: [PATCH 08/99] outsourced big parts of read() in helper: build
 uccessfull, but rtde overflow error when launching

---
 .../ur_robot_driver/ur_state_helper.hpp       | 101 +++++++++++++-
 ur_robot_driver/src/hardware_interface.cpp    | 131 ++++++++++++------
 2 files changed, 189 insertions(+), 43 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 09b4e0fce..35eb92124 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -127,7 +127,106 @@ class URStateHelper
         return state_interfaces;
     }
 
-    void update_non_double_values(
+    static void process_state_data(
+        std::unique_ptr<rtde::DataPackage>& data_pkg,
+        urcl::vector6d_t& urcl_joint_positions,
+        urcl::vector6d_t& urcl_joint_velocities,
+        urcl::vector6d_t& urcl_joint_efforts,
+        double& target_speed_fraction,
+        double& speed_scaling,
+        uint32_t& runtime_state,
+        urcl::vector6d_t& urcl_ft_sensor_measurements,
+        urcl::vector6d_t& urcl_tcp_pose,
+        std::array<double, 2>& standard_analog_input,
+        std::array<double, 2>& standard_analog_output,
+        std::array<double, 2>& tool_analog_input,
+        double& tool_output_current,
+        double& tool_temperature,
+        std::bitset<4>& robot_status_bits,
+        std::array<double, 4>& robot_status_bits_copy,
+        std::bitset<11>& safety_status_bits,
+        std::array<double, 11>& safety_status_bits_copy,
+        std::bitset<18> actual_dig_in_bits,
+        std::array<double, 18>& actual_dig_in_bits_copy,
+        std::bitset<4>& analog_io_types,
+        std::array<double, 4>& analog_io_types_copy,
+        std::bitset<2>& tool_analog_input_types,
+        std::array<double, 2>& tool_analog_input_types_copy,
+        tf2::Quaternion& tcp_rotation_quat,
+        Quaternion& tcp_rotation_buffer,
+        tf2::Vector3& tcp_force,
+        tf2::Vector3& tcp_torque,
+        std::bitset<18> & actual_dig_out_bits,
+        std::array<double, 18>& actual_dig_out_bits_copy,
+        int32_t& tool_output_voltage,
+        double& tool_output_voltage_copy,
+        int32_t& robot_mode,
+        double& robot_mode_copy,
+        int32_t& safety_mode,
+        double& safety_mode_copy,
+        uint32_t& tool_mode,
+        double& tool_mode_copy,
+        bool& initialized,
+        double& system_interface_initialized,
+        bool& robot_program_running,
+        double& robot_program_running_copy)
+    {
+        if (!data_pkg) {
+            return;
+        }
+
+        std::cout<<"Processing state data"<<std::endl;
+        read_data(data_pkg, "actual_q", urcl_joint_positions);
+        read_data(data_pkg, "actual_qd", urcl_joint_velocities);
+        read_data(data_pkg, "actual_current", urcl_joint_efforts);
+        read_data(data_pkg, "target_speed_fraction", target_speed_fraction);
+        read_data(data_pkg, "speed_scaling", speed_scaling);
+        read_data(data_pkg, "runtime_state", runtime_state);
+        read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements);
+        read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose);
+        read_data(data_pkg, "standard_analog_input0", standard_analog_input[0]);
+        read_data(data_pkg, "standard_analog_input1", standard_analog_input[1]);
+        read_data(data_pkg, "standard_analog_output0", standard_analog_output[0]);
+        read_data(data_pkg, "standard_analog_output1", standard_analog_output[1]);
+        read_data(data_pkg, "tool_mode", tool_mode);
+        read_data(data_pkg, "tool_analog_input0", tool_analog_input[0]);
+        read_data(data_pkg, "tool_analog_input1", tool_analog_input[1]);
+        read_data(data_pkg, "tool_output_voltage", tool_output_voltage);
+        read_data(data_pkg, "tool_output_current", tool_output_current);
+        read_data(data_pkg, "tool_temperature", tool_temperature);
+        read_data(data_pkg, "robot_mode", robot_mode);
+        read_data(data_pkg, "safety_mode", safety_mode);
+
+        std::cout<<"Reading bitset data"<<std::endl;
+        read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits);
+        read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits);
+        read_bitset_data<uint32_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits);
+        read_bitset_data<uint32_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits);
+        read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types);
+        read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types);
+
+        std::cout<<"Extracting tool pose"<<std::endl;
+        extract_tool_pose(urcl_tcp_pose, tcp_rotation_quat, tcp_rotation_buffer);
+        std::cout<<"Transforming force torque"<<std::endl;
+        transform_force_torque(tcp_rotation_quat, tcp_force, tcp_torque, urcl_ft_sensor_measurements);
+        std::cout<<"Updating non double values"<<std::endl;
+        update_non_double_values(
+            actual_dig_out_bits, actual_dig_out_bits_copy,
+            actual_dig_in_bits, actual_dig_in_bits_copy,
+            safety_status_bits, safety_status_bits_copy,
+            analog_io_types, analog_io_types_copy,
+            robot_status_bits, robot_status_bits_copy,
+            tool_analog_input_types, tool_analog_input_types_copy,
+            tool_output_voltage, tool_output_voltage_copy,
+            robot_mode, robot_mode_copy,
+            safety_mode, safety_mode_copy,
+            tool_mode, tool_mode_copy,
+            initialized, system_interface_initialized,
+            robot_program_running, robot_program_running_copy);
+    }
+
+private:
+    static void update_non_double_values(
         const std::bitset<18>& actual_dig_out_bits, std::array<double, 18>& actual_dig_out_bits_copy,
         const std::bitset<18>& actual_dig_in_bits, std::array<double, 18>& actual_dig_in_bits_copy,
         const std::bitset<11>& safety_status_bits, std::array<double, 11>& safety_status_bits_copy,
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index ad89052c1..f48920e3f 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -705,6 +705,52 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
   if (data_pkg) {
     packet_read_ = true;
+
+    state_helper_.process_state_data(
+      data_pkg,
+      urcl_joint_positions_,
+      urcl_joint_velocities_,
+      urcl_joint_efforts_,
+      target_speed_fraction_,
+      speed_scaling_,
+      runtime_state_,
+      urcl_ft_sensor_measurements_,
+      urcl_tcp_pose_,
+      standard_analog_input_,
+      standard_analog_output_,
+      tool_analog_input_,
+      tool_output_current_,
+      tool_temperature_,
+      robot_status_bits_,
+      robot_status_bits_copy_,
+      safety_status_bits_,
+      safety_status_bits_copy_,
+      actual_dig_in_bits_,
+      actual_dig_in_bits_copy_,
+      analog_io_types_,
+      analog_io_types_copy_,
+      tool_analog_input_types_, 
+      tool_analog_input_types_copy_, 
+      tcp_rotation_quat_,  
+      tcp_rotation_buffer,  
+      tcp_force_,  
+      tcp_torque_,   
+      actual_dig_out_bits_,  
+      actual_dig_out_bits_copy_,  
+      tool_output_voltage_,  
+      tool_output_voltage_copy_,  
+      robot_mode_,  
+      robot_mode_copy_,  
+      safety_mode_,  
+      safety_mode_copy_,  
+      tool_mode_,  
+      tool_mode_copy_,  
+      initialized_,  
+      system_interface_initialized_,  
+      robot_program_running_,  
+      robot_program_running_copy_ 
+  );
+  
     // readData(data_pkg, "actual_q", urcl_joint_positions_);
     // readData(data_pkg, "actual_qd", urcl_joint_velocities_);
     // readData(data_pkg, "actual_current", urcl_joint_efforts_);
@@ -731,38 +777,39 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
     // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
     // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-    state_helper_.read_data(data_pkg, "actual_q", urcl_joint_positions_);
-    state_helper_.read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
-    state_helper_.read_data(data_pkg, "actual_current", urcl_joint_efforts_);
-    state_helper_.read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
-    state_helper_.read_data(data_pkg, "speed_scaling", speed_scaling_);
-    state_helper_.read_data(data_pkg, "runtime_state", runtime_state_);
-    state_helper_.read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-    state_helper_.read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    state_helper_.read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-    state_helper_.read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-    state_helper_.read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-    state_helper_.read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-    state_helper_.read_data(data_pkg, "tool_mode", tool_mode_);
-    state_helper_.read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-    state_helper_.read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-    state_helper_.read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
-    state_helper_.read_data(data_pkg, "tool_output_current", tool_output_current_);
-    state_helper_.read_data(data_pkg, "tool_temperature", tool_temperature_);
-    state_helper_.read_data(data_pkg, "robot_mode", robot_mode_);
-    state_helper_.read_data(data_pkg, "safety_mode", safety_mode_);
-    state_helper_.read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-    state_helper_.read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-    state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-    state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-    state_helper_.read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-    state_helper_.read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+
+    // state_helper_.read_data(data_pkg, "actual_q", urcl_joint_positions_);
+    // state_helper_.read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
+    // state_helper_.read_data(data_pkg, "actual_current", urcl_joint_efforts_);
+    // state_helper_.read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
+    // state_helper_.read_data(data_pkg, "speed_scaling", speed_scaling_);
+    // state_helper_.read_data(data_pkg, "runtime_state", runtime_state_);
+    // state_helper_.read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+    // state_helper_.read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    // state_helper_.read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+    // state_helper_.read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+    // state_helper_.read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+    // state_helper_.read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+    // state_helper_.read_data(data_pkg, "tool_mode", tool_mode_);
+    // state_helper_.read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+    // state_helper_.read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+    // state_helper_.read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
+    // state_helper_.read_data(data_pkg, "tool_output_current", tool_output_current_);
+    // state_helper_.read_data(data_pkg, "tool_temperature", tool_temperature_);
+    // state_helper_.read_data(data_pkg, "robot_mode", robot_mode_);
+    // state_helper_.read_data(data_pkg, "safety_mode", safety_mode_);
+    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    // state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+    // state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
 
     // required transforms
     // extractToolPose();
-    state_helper_.extract_tool_pose(urcl_tcp_pose_, tcp_rotation_quat_, tcp_rotation_buffer);
+    // state_helper_.extract_tool_pose(urcl_tcp_pose_, tcp_rotation_quat_, tcp_rotation_buffer);
     // transformForceTorque();
-    state_helper_.transform_force_torque(tcp_rotation_quat_, tcp_force_, tcp_torque_, urcl_ft_sensor_measurements_);
+    // state_helper_.transform_force_torque(tcp_rotation_quat_, tcp_force_, tcp_torque_, urcl_ft_sensor_measurements_);
 
     // TODO(anyone): logic for sending other stuff to higher level interface
 
@@ -807,20 +854,20 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
       initialized_ = true;
     }
 
-    // updateNonDoubleValues();
-    state_helper_.update_non_double_values(
-      actual_dig_out_bits_, actual_dig_out_bits_copy_,
-      actual_dig_in_bits_, actual_dig_in_bits_copy_,
-      safety_status_bits_, safety_status_bits_copy_,
-      analog_io_types_, analog_io_types_copy_,
-      robot_status_bits_, robot_status_bits_copy_,
-      tool_analog_input_types_, tool_analog_input_types_copy_,
-      tool_output_voltage_, tool_output_voltage_copy_,
-      robot_mode_, robot_mode_copy_,
-      safety_mode_, safety_mode_copy_,
-      tool_mode_, tool_mode_copy_,
-      initialized_, system_interface_initialized_,
-      robot_program_running_, robot_program_running_copy_);
+    // // updateNonDoubleValues();
+    // state_helper_.update_non_double_values(
+    //   actual_dig_out_bits_, actual_dig_out_bits_copy_,
+    //   actual_dig_in_bits_, actual_dig_in_bits_copy_,
+    //   safety_status_bits_, safety_status_bits_copy_,
+    //   analog_io_types_, analog_io_types_copy_,
+    //   robot_status_bits_, robot_status_bits_copy_,
+    //   tool_analog_input_types_, tool_analog_input_types_copy_,
+    //   tool_output_voltage_, tool_output_voltage_copy_,
+    //   robot_mode_, robot_mode_copy_,
+    //   safety_mode_, safety_mode_copy_,
+    //   tool_mode_, tool_mode_copy_,
+    //   initialized_, system_interface_initialized_,
+    //   robot_program_running_, robot_program_running_copy_);
 
     return hardware_interface::return_type::OK;
   }

From eb48701cb3acd8f0398e9107f702372a96b3a171 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 27 Mar 2025 08:55:38 +0100
Subject: [PATCH 09/99] fixed some bugs --> launch successfull

---
 .../ur_robot_driver/ur_state_helper.hpp       | 68 +++++++++----------
 1 file changed, 32 insertions(+), 36 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 35eb92124..fbe87ca7c 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -23,24 +23,24 @@ class URStateHelper
         std::string& tf_prefix,
         std::vector<std::string>& sensor_names,
         urcl::vector6d_t& urcl_ft_sensor_measurements,
-        std::array<double, 18>& actual_dig_out_bits,
-        std::array<double, 18>& actual_dig_in_bits,
-        std::array<double, 11>& safety_status_bits,
-        std::array<double, 4>& analog_io_types,
-        std::array<double, 4>& robot_status_bits,
-        std::array<double, 2>& tool_analog_input_types,
+        std::array<double, 18>& actual_dig_out_bits_copy,
+        std::array<double, 18>& actual_dig_in_bits_copy,
+        std::array<double, 11>& safety_status_bits_copy,
+        std::array<double, 4>& analog_io_types_copy,
+        std::array<double, 4>& robot_status_bits_copy,
+        std::array<double, 2>& tool_analog_input_types_copy,
         std::array<double, 2>& tool_analog_input,
         std::array<double, 2>& standard_analog_input,
         std::array<double, 2>& standard_analog_output,
-        double& tool_output_voltage,
-        double& robot_mode,
-        double& safety_mode,
-        double& tool_mode,
+        double& tool_output_voltage_copy,
+        double& robot_mode_copy,
+        double& safety_mode_copy,
+        double& tool_mode_copy,
         double& tool_output_current,
         double& tool_temperature,
         double& speed_scaling_combined,
         double& system_interface_initialized,
-        double& robot_program_running,
+        double& robot_program_running_copy,
         urcl::vector6d_t& urcl_tcp_pose,
         double& tcp_rotation_buffer_x,
         double& tcp_rotation_buffer_y,
@@ -77,35 +77,35 @@ class URStateHelper
 
         // GPIO
         for (size_t i = 0; i < 18; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy[i]));
         }
 
         for (size_t i = 0; i < 11; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy[i]));
         }
 
         for (size_t i = 0; i < 4; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy[i]));
         }
        
         for (size_t i = 0; i < 2; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy[i]));
             state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input[i]));
             state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input[i]));
             state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output[i]));
         }
 
         // Other states
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy));
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current));
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature));
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized", &system_interface_initialized));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy));
 
         // TCP pose
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose[0]));
@@ -146,7 +146,7 @@ class URStateHelper
         std::array<double, 4>& robot_status_bits_copy,
         std::bitset<11>& safety_status_bits,
         std::array<double, 11>& safety_status_bits_copy,
-        std::bitset<18> actual_dig_in_bits,
+        std::bitset<18>& actual_dig_in_bits,
         std::array<double, 18>& actual_dig_in_bits_copy,
         std::bitset<4>& analog_io_types,
         std::array<double, 4>& analog_io_types_copy,
@@ -156,7 +156,7 @@ class URStateHelper
         Quaternion& tcp_rotation_buffer,
         tf2::Vector3& tcp_force,
         tf2::Vector3& tcp_torque,
-        std::bitset<18> & actual_dig_out_bits,
+        std::bitset<18>& actual_dig_out_bits,
         std::array<double, 18>& actual_dig_out_bits_copy,
         int32_t& tool_output_voltage,
         double& tool_output_voltage_copy,
@@ -171,11 +171,11 @@ class URStateHelper
         bool& robot_program_running,
         double& robot_program_running_copy)
     {
+
         if (!data_pkg) {
             return;
         }
 
-        std::cout<<"Processing state data"<<std::endl;
         read_data(data_pkg, "actual_q", urcl_joint_positions);
         read_data(data_pkg, "actual_qd", urcl_joint_velocities);
         read_data(data_pkg, "actual_current", urcl_joint_efforts);
@@ -197,19 +197,15 @@ class URStateHelper
         read_data(data_pkg, "robot_mode", robot_mode);
         read_data(data_pkg, "safety_mode", safety_mode);
 
-        std::cout<<"Reading bitset data"<<std::endl;
         read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits);
         read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits);
-        read_bitset_data<uint32_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits);
-        read_bitset_data<uint32_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits);
+        read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits);
+        read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits);
         read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types);
         read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types);
 
-        std::cout<<"Extracting tool pose"<<std::endl;
         extract_tool_pose(urcl_tcp_pose, tcp_rotation_quat, tcp_rotation_buffer);
-        std::cout<<"Transforming force torque"<<std::endl;
         transform_force_torque(tcp_rotation_quat, tcp_force, tcp_torque, urcl_ft_sensor_measurements);
-        std::cout<<"Updating non double values"<<std::endl;
         update_non_double_values(
             actual_dig_out_bits, actual_dig_out_bits_copy,
             actual_dig_in_bits, actual_dig_in_bits_copy,
@@ -270,11 +266,11 @@ class URStateHelper
     template <typename T>
     static void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
     {
-    if (!data_pkg->getData(var_name, data)) {
-        // This throwing should never happen unless misconfigured
-        std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-        throw std::runtime_error(error_msg);
-    }
+        if (!data_pkg->getData(var_name, data)) {
+            // This throwing should never happen unless misconfigured
+            std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+            throw std::runtime_error(error_msg);
+        }
     }
 
     template <typename T, size_t N>

From f22ae3ab97274d5bb287a920dc3f26670b03e87a Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 27 Mar 2025 09:02:41 +0100
Subject: [PATCH 10/99] changed double& tcp_rotation_buffer_x, _y, _z, _w to
 Quaternion& tcp_rotation_buffer

---
 .../include/ur_robot_driver/ur_state_helper.hpp     | 13 +++++--------
 ur_robot_driver/src/hardware_interface.cpp          |  5 +----
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index fbe87ca7c..90d1df1e9 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -42,10 +42,7 @@ class URStateHelper
         double& system_interface_initialized,
         double& robot_program_running_copy,
         urcl::vector6d_t& urcl_tcp_pose,
-        double& tcp_rotation_buffer_x,
-        double& tcp_rotation_buffer_y,
-        double& tcp_rotation_buffer_z,
-        double& tcp_rotation_buffer_w,
+        Quaternion& tcp_rotation_buffer,
         double& get_robot_software_version_major,
         double& get_robot_software_version_minor,
         double& get_robot_software_version_bugfix,
@@ -113,10 +110,10 @@ class URStateHelper
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose[2]));
 
         // TCP rotation
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_x));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_y));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_z));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_w));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
 
         // Software version
         state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major));
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index f48920e3f..f4569402b 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -309,10 +309,7 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
     system_interface_initialized_,
     robot_program_running_copy_,
     urcl_tcp_pose_,
-    tcp_rotation_buffer.x,
-    tcp_rotation_buffer.y,
-    tcp_rotation_buffer.z,
-    tcp_rotation_buffer.w,
+    tcp_rotation_buffer,
     get_robot_software_version_major_,
     get_robot_software_version_minor_,
     get_robot_software_version_bugfix_,

From 3c4704fbf2a5e3b10cb42c439eead0f0a98dac7f Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 28 Mar 2025 15:48:09 +0100
Subject: [PATCH 11/99] fixed types for update_non_double_values() parameters

---
 .../include/ur_robot_driver/ur_state_helper.hpp           | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 90d1df1e9..4dc0cd09e 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -226,10 +226,10 @@ class URStateHelper
         const std::bitset<4>& analog_io_types, std::array<double, 4>& analog_io_types_copy,
         const std::bitset<4>& robot_status_bits, std::array<double, 4>& robot_status_bits_copy,
         const std::bitset<2>& tool_analog_input_types, std::array<double, 2>& tool_analog_input_types_copy,
-        uint8_t tool_output_voltage, double& tool_output_voltage_copy,
-        uint8_t robot_mode, double& robot_mode_copy,
-        uint8_t safety_mode, double& safety_mode_copy,
-        uint8_t tool_mode, double& tool_mode_copy,
+        int32_t& tool_output_voltage, double& tool_output_voltage_copy,
+        int32_t& robot_mode, double& robot_mode_copy,
+        int32_t safety_mode, double& safety_mode_copy,
+        uint32_t tool_mode, double& tool_mode_copy,
         bool initialized, double& system_interface_initialized,
         bool robot_program_running, double& robot_program_running_copy)
     {

From 10f2528dcff53876bf2fb2f2d3d2665c050460a5 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 2 Apr 2025 10:41:32 +0200
Subject: [PATCH 12/99] using meber variables instead of passing references for
 the function calls (and moved some more code to the helper header)

---
 .../ur_robot_driver/hardware_interface.hpp    | 104 ++---
 .../ur_robot_driver/ur_state_helper.hpp       | 410 +++++++++---------
 ur_robot_driver/src/hardware_interface.cpp    | 168 +++----
 3 files changed, 312 insertions(+), 370 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 14fcc9642..425bae133 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -69,12 +69,12 @@
 
 namespace ur_robot_driver
 {
-enum class PausingState
-{
-  PAUSED,
-  RUNNING,
-  RAMPUP
-};
+// enum class PausingState
+// {
+//   PAUSED,
+//   RUNNING,
+//   RAMPUP
+// };
 
 enum StoppingInterface
 {
@@ -173,41 +173,41 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   urcl::vector6d_t urcl_position_commands_;
   urcl::vector6d_t urcl_position_commands_old_;
   urcl::vector6d_t urcl_velocity_commands_;
-  urcl::vector6d_t urcl_joint_positions_;
-  urcl::vector6d_t urcl_joint_velocities_;
-  urcl::vector6d_t urcl_joint_efforts_;
-  urcl::vector6d_t urcl_ft_sensor_measurements_;
-  urcl::vector6d_t urcl_tcp_pose_;
-  tf2::Quaternion tcp_rotation_quat_;
-  Quaternion tcp_rotation_buffer;
+  // urcl::vector6d_t urcl_joint_positions_;
+  // urcl::vector6d_t urcl_joint_velocities_;
+  // urcl::vector6d_t urcl_joint_efforts_;
+  // urcl::vector6d_t urcl_ft_sensor_measurements_;
+  // urcl::vector6d_t urcl_tcp_pose_;
+  // tf2::Quaternion tcp_rotation_quat_;
+  // Quaternion tcp_rotation_buffer;
 
   bool packet_read_;
 
-  uint32_t runtime_state_;
+  // uint32_t runtime_state_;
   bool controllers_initialized_;
 
-  std::bitset<18> actual_dig_out_bits_;
-  std::bitset<18> actual_dig_in_bits_;
-  std::array<double, 2> standard_analog_input_;
-  std::array<double, 2> standard_analog_output_;
-  std::bitset<4> analog_io_types_;
-  uint32_t tool_mode_;
-  std::bitset<2> tool_analog_input_types_;
-  std::array<double, 2> tool_analog_input_;
-  int32_t tool_output_voltage_;
-  double tool_output_current_;
-  double tool_temperature_;
-  double speed_scaling_;
-  double target_speed_fraction_;
-  double speed_scaling_combined_;
-  int32_t robot_mode_;
-  int32_t safety_mode_;
-  std::bitset<4> robot_status_bits_;
-  std::bitset<11> safety_status_bits_;
+  // std::bitset<18> actual_dig_out_bits_;
+  // std::bitset<18> actual_dig_in_bits_;
+  // std::array<double, 2> standard_analog_input_;
+  // std::array<double, 2> standard_analog_output_;
+  // std::bitset<4> analog_io_types_;
+  // uint32_t tool_mode_;
+  // std::bitset<2> tool_analog_input_types_;
+  // std::array<double, 2> tool_analog_input_;
+  // int32_t tool_output_voltage_;
+  // double tool_output_current_;
+  // double tool_temperature_;
+  // double speed_scaling_;
+  // double target_speed_fraction_;
+  // double speed_scaling_combined_;
+  // int32_t robot_mode_;
+  // int32_t safety_mode_;
+  // std::bitset<4> robot_status_bits_;
+  // std::bitset<11> safety_status_bits_;
 
   // transform stuff
-  tf2::Vector3 tcp_force_;
-  tf2::Vector3 tcp_torque_;
+  // tf2::Vector3 tcp_force_;
+  // tf2::Vector3 tcp_torque_;
 
   // asynchronous commands
   std::array<double, 18> standard_dig_out_bits_cmd_;
@@ -225,12 +225,12 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double hand_back_control_async_success_;
   bool first_pass_;
   bool initialized_;
-  double system_interface_initialized_;
+  // double system_interface_initialized_;
   std::atomic_bool async_thread_shutdown_;
-  double get_robot_software_version_major_;
-  double get_robot_software_version_minor_;
-  double get_robot_software_version_bugfix_;
-  double get_robot_software_version_build_;
+  // double get_robot_software_version_major_;
+  // double get_robot_software_version_minor_;
+  // double get_robot_software_version_bugfix_;
+  // double get_robot_software_version_build_;
 
   // Freedrive mode controller interface values
   bool freedrive_activated_;
@@ -266,20 +266,20 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double force_mode_gain_scaling_;
 
   // copy of non double values
-  std::array<double, 18> actual_dig_out_bits_copy_;
-  std::array<double, 18> actual_dig_in_bits_copy_;
-  std::array<double, 4> analog_io_types_copy_;
-  double tool_mode_copy_;
-  std::array<double, 2> tool_analog_input_types_copy_;
-  double tool_output_voltage_copy_;
-  double robot_mode_copy_;
-  double safety_mode_copy_;
-  std::array<double, 4> robot_status_bits_copy_;
-  std::array<double, 11> safety_status_bits_copy_;
+  // std::array<double, 18> actual_dig_out_bits_copy_;
+  // std::array<double, 18> actual_dig_in_bits_copy_;
+  // std::array<double, 4> analog_io_types_copy_;
+  // double tool_mode_copy_;
+  // std::array<double, 2> tool_analog_input_types_copy_;
+  // double tool_output_voltage_copy_;
+  // double robot_mode_copy_;
+  // double safety_mode_copy_;
+  // std::array<double, 4> robot_status_bits_copy_;
+  // std::array<double, 11> safety_status_bits_copy_;
 
   bool robot_program_running_;
   bool non_blocking_read_;
-  double robot_program_running_copy_;
+  // double robot_program_running_copy_;
 
   /* Vectors used to store the trajectory received from the passthrough trajectory controller. The whole trajectory is
    * received before it is sent to the robot. */
@@ -288,8 +288,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   std::vector<std::array<double, 6>> trajectory_joint_accelerations_;
   std::vector<double> trajectory_times_;
 
-  PausingState pausing_state_;
-  double pausing_ramp_up_increment_;
+  // PausingState pausing_state_;
+  // double pausing_ramp_up_increment_;
 
   // resources switching aux vars
   std::vector<std::vector<uint>> stop_modes_;
diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 4dc0cd09e..9496f88d6 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -10,55 +10,55 @@ namespace rtde = urcl::rtde_interface;
 namespace ur_robot_driver
 {
 
+enum class PausingState
+{
+    PAUSED,
+    RUNNING,
+    RAMPUP
+};
+      
+
 class URStateHelper
 {
 public:
     URStateHelper() = default; 
 
-    static std::vector<hardware_interface::StateInterface> generate_state_interfaces(
+    void initialize()
+    {
+        urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+        urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+        urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+        urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+        urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+        runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
+        pausing_state_ = PausingState::RUNNING;
+        pausing_ramp_up_increment_ = 0.01;
+        system_interface_initialized_ = 0.0;
+    }
+
+    void set_robot_software_version(const urcl::VersionInformation& version_info) {
+        get_robot_software_version_major_ = version_info.major;
+        get_robot_software_version_minor_ = version_info.minor;
+        get_robot_software_version_build_ = version_info.build;
+        get_robot_software_version_bugfix_ = version_info.bugfix;
+    }
+
+    std::vector<hardware_interface::StateInterface> generate_state_interfaces(
         std::vector<std::string>& joint_names,
-        urcl::vector6d_t& urcl_joint_positions,
-        urcl::vector6d_t& urcl_joint_velocities,
-        urcl::vector6d_t& urcl_joint_efforts,
         std::string& tf_prefix,
-        std::vector<std::string>& sensor_names,
-        urcl::vector6d_t& urcl_ft_sensor_measurements,
-        std::array<double, 18>& actual_dig_out_bits_copy,
-        std::array<double, 18>& actual_dig_in_bits_copy,
-        std::array<double, 11>& safety_status_bits_copy,
-        std::array<double, 4>& analog_io_types_copy,
-        std::array<double, 4>& robot_status_bits_copy,
-        std::array<double, 2>& tool_analog_input_types_copy,
-        std::array<double, 2>& tool_analog_input,
-        std::array<double, 2>& standard_analog_input,
-        std::array<double, 2>& standard_analog_output,
-        double& tool_output_voltage_copy,
-        double& robot_mode_copy,
-        double& safety_mode_copy,
-        double& tool_mode_copy,
-        double& tool_output_current,
-        double& tool_temperature,
-        double& speed_scaling_combined,
-        double& system_interface_initialized,
-        double& robot_program_running_copy,
-        urcl::vector6d_t& urcl_tcp_pose,
-        Quaternion& tcp_rotation_buffer,
-        double& get_robot_software_version_major,
-        double& get_robot_software_version_minor,
-        double& get_robot_software_version_bugfix,
-        double& get_robot_software_version_build)
+        std::vector<std::string>& sensor_names)
     {
         std::vector<hardware_interface::StateInterface> state_interfaces;
 
         // Joints
         for (size_t i = 0; i < joint_names.size(); ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
         }
 
         // Speed scaling
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor", &speed_scaling_combined));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor", &speed_scaling_combined_));
 
         // Force-torque sensor
         for (const auto& sensor : sensor_names) {
@@ -67,201 +67,167 @@ class URStateHelper
                     "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
                 };
                 for (uint j = 0; j < 6; ++j) {
-                    state_interfaces.emplace_back(hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements[j]));
+                    state_interfaces.emplace_back(hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements_[j]));
                 }
             }
         }
 
         // GPIO
         for (size_t i = 0; i < 18; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
         }
 
         for (size_t i = 0; i < 11; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
         }
 
         for (size_t i = 0; i < 4; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
         }
        
         for (size_t i = 0; i < 2; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
+            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
         }
 
         // Other states
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized", &system_interface_initialized));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized", &system_interface_initialized_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
 
         // TCP pose
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose[0]));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose[1]));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose[2]));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
 
         // TCP rotation
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_.x));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_.y));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_.z));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_.w));
 
         // Software version
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
+        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
 
         return state_interfaces;
     }
 
-    static void process_state_data(
-        std::unique_ptr<rtde::DataPackage>& data_pkg,
-        urcl::vector6d_t& urcl_joint_positions,
-        urcl::vector6d_t& urcl_joint_velocities,
-        urcl::vector6d_t& urcl_joint_efforts,
-        double& target_speed_fraction,
-        double& speed_scaling,
-        uint32_t& runtime_state,
-        urcl::vector6d_t& urcl_ft_sensor_measurements,
-        urcl::vector6d_t& urcl_tcp_pose,
-        std::array<double, 2>& standard_analog_input,
-        std::array<double, 2>& standard_analog_output,
-        std::array<double, 2>& tool_analog_input,
-        double& tool_output_current,
-        double& tool_temperature,
-        std::bitset<4>& robot_status_bits,
-        std::array<double, 4>& robot_status_bits_copy,
-        std::bitset<11>& safety_status_bits,
-        std::array<double, 11>& safety_status_bits_copy,
-        std::bitset<18>& actual_dig_in_bits,
-        std::array<double, 18>& actual_dig_in_bits_copy,
-        std::bitset<4>& analog_io_types,
-        std::array<double, 4>& analog_io_types_copy,
-        std::bitset<2>& tool_analog_input_types,
-        std::array<double, 2>& tool_analog_input_types_copy,
-        tf2::Quaternion& tcp_rotation_quat,
-        Quaternion& tcp_rotation_buffer,
-        tf2::Vector3& tcp_force,
-        tf2::Vector3& tcp_torque,
-        std::bitset<18>& actual_dig_out_bits,
-        std::array<double, 18>& actual_dig_out_bits_copy,
-        int32_t& tool_output_voltage,
-        double& tool_output_voltage_copy,
-        int32_t& robot_mode,
-        double& robot_mode_copy,
-        int32_t& safety_mode,
-        double& safety_mode_copy,
-        uint32_t& tool_mode,
-        double& tool_mode_copy,
-        bool& initialized,
-        double& system_interface_initialized,
-        bool& robot_program_running,
-        double& robot_program_running_copy)
+    void process_state_data(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
     {
-
         if (!data_pkg) {
             return;
         }
 
-        read_data(data_pkg, "actual_q", urcl_joint_positions);
-        read_data(data_pkg, "actual_qd", urcl_joint_velocities);
-        read_data(data_pkg, "actual_current", urcl_joint_efforts);
-        read_data(data_pkg, "target_speed_fraction", target_speed_fraction);
-        read_data(data_pkg, "speed_scaling", speed_scaling);
-        read_data(data_pkg, "runtime_state", runtime_state);
-        read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements);
-        read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose);
-        read_data(data_pkg, "standard_analog_input0", standard_analog_input[0]);
-        read_data(data_pkg, "standard_analog_input1", standard_analog_input[1]);
-        read_data(data_pkg, "standard_analog_output0", standard_analog_output[0]);
-        read_data(data_pkg, "standard_analog_output1", standard_analog_output[1]);
-        read_data(data_pkg, "tool_mode", tool_mode);
-        read_data(data_pkg, "tool_analog_input0", tool_analog_input[0]);
-        read_data(data_pkg, "tool_analog_input1", tool_analog_input[1]);
-        read_data(data_pkg, "tool_output_voltage", tool_output_voltage);
-        read_data(data_pkg, "tool_output_current", tool_output_current);
-        read_data(data_pkg, "tool_temperature", tool_temperature);
-        read_data(data_pkg, "robot_mode", robot_mode);
-        read_data(data_pkg, "safety_mode", safety_mode);
-
-        read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits);
-        read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits);
-        read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits);
-        read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits);
-        read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types);
-        read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types);
-
-        extract_tool_pose(urcl_tcp_pose, tcp_rotation_quat, tcp_rotation_buffer);
-        transform_force_torque(tcp_rotation_quat, tcp_force, tcp_torque, urcl_ft_sensor_measurements);
-        update_non_double_values(
-            actual_dig_out_bits, actual_dig_out_bits_copy,
-            actual_dig_in_bits, actual_dig_in_bits_copy,
-            safety_status_bits, safety_status_bits_copy,
-            analog_io_types, analog_io_types_copy,
-            robot_status_bits, robot_status_bits_copy,
-            tool_analog_input_types, tool_analog_input_types_copy,
-            tool_output_voltage, tool_output_voltage_copy,
-            robot_mode, robot_mode_copy,
-            safety_mode, safety_mode_copy,
-            tool_mode, tool_mode_copy,
-            initialized, system_interface_initialized,
-            robot_program_running, robot_program_running_copy);
+        read_data(data_pkg, "actual_q", urcl_joint_positions_);
+        read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
+        read_data(data_pkg, "actual_current", urcl_joint_efforts_);
+        read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
+        read_data(data_pkg, "speed_scaling", speed_scaling_);
+        read_data(data_pkg, "runtime_state", runtime_state_);
+        read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+        read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+        read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+        read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+        read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+        read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+        read_data(data_pkg, "tool_mode", tool_mode_);
+        read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+        read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+        read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
+        read_data(data_pkg, "tool_output_current", tool_output_current_);
+        read_data(data_pkg, "tool_temperature", tool_temperature_);
+        read_data(data_pkg, "robot_mode", robot_mode_);
+        read_data(data_pkg, "safety_mode", safety_mode_);
+
+        read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+        read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+        read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+        read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+        read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+        read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+
+        extract_tool_pose();
+        transform_force_torque();
+
+        // pausing state follows runtime state when pausing
+        if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
+            pausing_state_ = PausingState::PAUSED;
+        } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
+                    pausing_state_ == PausingState::PAUSED) {
+            // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
+            speed_scaling_combined_ = 0.0;
+            pausing_state_ = PausingState::RAMPUP;
+        }
+    
+        if (pausing_state_ == PausingState::RAMPUP) {
+            double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
+            speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
+    
+            if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
+            pausing_state_ = PausingState::RUNNING;
+            }
+        } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
+            // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
+            // continuing to interpolate
+            speed_scaling_combined_ = 0.0;
+        } else {
+            // Normal case
+            speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
+        }
+
+        update_non_double_values(initialized, robot_program_running);
+    
+
+            
     }
+    // Public member variables
+    urcl::vector6d_t urcl_joint_positions_;
+    uint32_t runtime_state_;
 
 private:
-    static void update_non_double_values(
-        const std::bitset<18>& actual_dig_out_bits, std::array<double, 18>& actual_dig_out_bits_copy,
-        const std::bitset<18>& actual_dig_in_bits, std::array<double, 18>& actual_dig_in_bits_copy,
-        const std::bitset<11>& safety_status_bits, std::array<double, 11>& safety_status_bits_copy,
-        const std::bitset<4>& analog_io_types, std::array<double, 4>& analog_io_types_copy,
-        const std::bitset<4>& robot_status_bits, std::array<double, 4>& robot_status_bits_copy,
-        const std::bitset<2>& tool_analog_input_types, std::array<double, 2>& tool_analog_input_types_copy,
-        int32_t& tool_output_voltage, double& tool_output_voltage_copy,
-        int32_t& robot_mode, double& robot_mode_copy,
-        int32_t safety_mode, double& safety_mode_copy,
-        uint32_t tool_mode, double& tool_mode_copy,
-        bool initialized, double& system_interface_initialized,
-        bool robot_program_running, double& robot_program_running_copy)
+    void update_non_double_values(bool initialized, bool robot_program_running)
     {
         for (size_t i = 0; i < 18; ++i) {
-            actual_dig_out_bits_copy[i] = static_cast<double>(actual_dig_out_bits[i]);
-            actual_dig_in_bits_copy[i] = static_cast<double>(actual_dig_in_bits[i]);
+            actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
+            actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
         }
 
         for (size_t i = 0; i < 11; ++i) {
-            safety_status_bits_copy[i] = static_cast<double>(safety_status_bits[i]);
+            safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
         }
 
         for (size_t i = 0; i < 4; ++i) {
-            analog_io_types_copy[i] = static_cast<double>(analog_io_types[i]);
-            robot_status_bits_copy[i] = static_cast<double>(robot_status_bits[i]);
+            analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
+            robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
         }
 
         for (size_t i = 0; i < 2; ++i) {
-            tool_analog_input_types_copy[i] = static_cast<double>(tool_analog_input_types[i]);
+            tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
         }
 
-        tool_output_voltage_copy = static_cast<double>(tool_output_voltage);
-        robot_mode_copy = static_cast<double>(robot_mode);
-        safety_mode_copy = static_cast<double>(safety_mode);
-        tool_mode_copy = static_cast<double>(tool_mode);
-        system_interface_initialized = initialized ? 1.0 : 0.0;
-        robot_program_running_copy = robot_program_running ? 1.0 : 0.0;
+        tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
+        robot_mode_copy_ = static_cast<double>(robot_mode_);
+        safety_mode_copy_ = static_cast<double>(safety_mode_);
+        tool_mode_copy_ = static_cast<double>(tool_mode_);
+        system_interface_initialized_ = initialized ? 1.0 : 0.0;
+        robot_program_running_copy_ = robot_program_running ? 1.0 : 0.0;
     }
 
 
     template <typename T>
-    static void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
+    void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
     {
         if (!data_pkg->getData(var_name, data)) {
             // This throwing should never happen unless misconfigured
@@ -271,7 +237,7 @@ class URStateHelper
     }
 
     template <typename T, size_t N>
-    static void read_bitset_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
+    void read_bitset_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
     {
         if (!data_pkg->getData<T, N>(var_name, data)) {
             // This throwing should never happen unless misconfigured
@@ -280,42 +246,88 @@ class URStateHelper
         }
     }
 
-    static void extract_tool_pose(
-        urcl::vector6d_t& urcl_tcp_pose,
-        tf2::Quaternion& tcp_rotation_quat,
-        Quaternion& tcp_rotation_buffer)
+    void extract_tool_pose()
     {
         // imported from ROS1 driver hardware_interface.cpp#L911-L928
         double tcp_angle =
-            std::sqrt(std::pow(urcl_tcp_pose[3], 2) + std::pow(urcl_tcp_pose[4], 2) + std::pow(urcl_tcp_pose[5], 2));
+            std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
 
-        tf2::Vector3 rotation_vec(urcl_tcp_pose[3], urcl_tcp_pose[4], urcl_tcp_pose[5]);
+        tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
         if (tcp_angle > 1e-16) {
-            tcp_rotation_quat.setRotation(rotation_vec.normalized(), tcp_angle);
+            tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
         } else {
-            tcp_rotation_quat.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
+            tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
         }
-        tcp_rotation_buffer.set(tcp_rotation_quat);
+        tcp_rotation_buffer_.set(tcp_rotation_quat_);
     }
 
-    static void transform_force_torque(
-        tf2::Quaternion& tcp_rotation_quat,
-        tf2::Vector3& tcp_force,
-        tf2::Vector3& tcp_torque,
-        urcl::vector6d_t& urcl_ft_sensor_measurements)
+    void transform_force_torque()
     {
         // imported from ROS1 driver - hardware_interface.cpp#L867-L876
-        tcp_force.setValue(urcl_ft_sensor_measurements[0], urcl_ft_sensor_measurements[1],
-                            urcl_ft_sensor_measurements[2]);
-        tcp_torque.setValue(urcl_ft_sensor_measurements[3], urcl_ft_sensor_measurements[4],
-                            urcl_ft_sensor_measurements[5]);
+        tcp_force_.setValue(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1],
+                            urcl_ft_sensor_measurements_[2]);
+        tcp_torque_.setValue(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4],
+                            urcl_ft_sensor_measurements_[5]);
 
-        tcp_force = tf2::quatRotate(tcp_rotation_quat.inverse(), tcp_force);
-        tcp_torque = tf2::quatRotate(tcp_rotation_quat.inverse(), tcp_torque);
+        tcp_force_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_force_);
+        tcp_torque_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_torque_);
 
-        urcl_ft_sensor_measurements = { tcp_force.x(),  tcp_force.y(),  tcp_force.z(),
-                                        tcp_torque.x(), tcp_torque.y(), tcp_torque.z() };
+        urcl_ft_sensor_measurements_ = { tcp_force_.x(),  tcp_force_.y(),  tcp_force_.z(),
+                                        tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
     }
+
+    // Private member variables
+    // urcl::vector6d_t urcl_joint_positions_;  //--> public
+    urcl::vector6d_t urcl_joint_velocities_;
+    urcl::vector6d_t urcl_joint_efforts_;
+    double target_speed_fraction_;
+    double speed_scaling_;
+    // uint32_t runtime_state_;  //--> public
+    urcl::vector6d_t urcl_ft_sensor_measurements_;
+    urcl::vector6d_t urcl_tcp_pose_;
+    std::array<double, 2> standard_analog_input_;
+    std::array<double, 2> standard_analog_output_;
+    std::array<double, 2> tool_analog_input_;
+    double tool_output_current_;
+    double tool_temperature_;
+    std::bitset<4> robot_status_bits_;
+    std::array<double, 4> robot_status_bits_copy_;
+    std::bitset<11> safety_status_bits_;
+    std::array<double, 11> safety_status_bits_copy_;
+    std::bitset<18> actual_dig_in_bits_;
+    std::array<double, 18> actual_dig_in_bits_copy_;
+    std::bitset<4> analog_io_types_;
+    std::array<double, 4> analog_io_types_copy_;
+    std::bitset<2> tool_analog_input_types_;
+    std::array<double, 2> tool_analog_input_types_copy_;
+    tf2::Quaternion tcp_rotation_quat_;
+    ur_robot_driver::Quaternion tcp_rotation_buffer_;
+    tf2::Vector3 tcp_force_;
+    tf2::Vector3 tcp_torque_;
+    std::bitset<18> actual_dig_out_bits_;
+    std::array<double, 18> actual_dig_out_bits_copy_;
+    int32_t tool_output_voltage_;
+    double tool_output_voltage_copy_;
+    int32_t robot_mode_;
+    double robot_mode_copy_;
+    int32_t safety_mode_;
+    double safety_mode_copy_;
+    uint32_t tool_mode_;
+    double tool_mode_copy_;
+    // bool initialized_;   // weiterhin als Referenz übergeben
+    double system_interface_initialized_;
+    // bool robot_program_running_;     // weiterhin als Referenz übergeben
+    double robot_program_running_copy_;
+    double speed_scaling_combined_;
+    double get_robot_software_version_major_;
+    double get_robot_software_version_minor_;
+    double get_robot_software_version_bugfix_;
+    double get_robot_software_version_build_;
+
+
+    PausingState pausing_state_;
+    double pausing_ramp_up_increment_;
+
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index f4569402b..0aca90c1a 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -73,11 +73,11 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   info_ = system_info;
 
   // initialize
-  urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  // urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  // urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  // urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  // urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  // urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_old_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
@@ -85,14 +85,14 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   velocity_controller_running_ = false;
   freedrive_mode_controller_running_ = false;
   passthrough_trajectory_controller_running_ = false;
-  runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
-  pausing_state_ = PausingState::RUNNING;
-  pausing_ramp_up_increment_ = 0.01;
+  // runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
+  // pausing_state_ = PausingState::RUNNING;
+  // pausing_ramp_up_increment_ = 0.01;
   controllers_initialized_ = false;
   first_pass_ = true;
   initialized_ = false;
   async_thread_shutdown_ = false;
-  system_interface_initialized_ = 0.0;
+  // system_interface_initialized_ = 0.0;
   freedrive_mode_abort_ = 0.0;
   passthrough_trajectory_transfer_state_ = 0.0;
   passthrough_trajectory_abort_ = 0.0;
@@ -100,6 +100,9 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   trajectory_joint_velocities_.clear();
   trajectory_joint_accelerations_.clear();
 
+  // initialize member variables of URStateHelper
+  state_helper_.initialize();
+
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
     if (joint.command_interfaces.size() != 2) {
       RCLCPP_FATAL(rclcpp::get_logger("URPositionHardwareInterface"),
@@ -282,38 +285,7 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
     sensor_names.push_back(info_.sensors[i].name);
   }
 
-  return state_helper_.generate_state_interfaces(
-    joint_names, 
-    urcl_joint_positions_,
-    urcl_joint_velocities_,
-    urcl_joint_efforts_,
-    info_.hardware_parameters.at("tf_prefix"),
-    sensor_names,
-    urcl_ft_sensor_measurements_,
-    actual_dig_out_bits_copy_,
-    actual_dig_in_bits_copy_,
-    safety_status_bits_copy_,
-    analog_io_types_copy_,
-    robot_status_bits_copy_,
-    tool_analog_input_types_copy_,
-    tool_analog_input_,
-    standard_analog_input_,
-    standard_analog_output_,
-    tool_output_voltage_copy_,
-    robot_mode_copy_,
-    safety_mode_copy_,
-    tool_mode_copy_,
-    tool_output_current_,
-    tool_temperature_,
-    speed_scaling_combined_,
-    system_interface_initialized_,
-    robot_program_running_copy_,
-    urcl_tcp_pose_,
-    tcp_rotation_buffer,
-    get_robot_software_version_major_,
-    get_robot_software_version_minor_,
-    get_robot_software_version_bugfix_,
-    get_robot_software_version_build_);
+  return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
 }
 
 std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::export_command_interfaces()
@@ -605,10 +577,11 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
 
   // Export version information to state interfaces
   urcl::VersionInformation version_info = ur_driver_->getVersion();
-  get_robot_software_version_major_ = version_info.major;
-  get_robot_software_version_minor_ = version_info.minor;
-  get_robot_software_version_build_ = version_info.build;
-  get_robot_software_version_bugfix_ = version_info.bugfix;
+  state_helper_.set_robot_software_version(version_info);
+  // get_robot_software_version_major_ = version_info.major;
+  // get_robot_software_version_minor_ = version_info.minor;
+  // get_robot_software_version_build_ = version_info.build;
+  // get_robot_software_version_bugfix_ = version_info.bugfix;
 
   async_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncThread, this);
 
@@ -703,50 +676,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
   if (data_pkg) {
     packet_read_ = true;
 
-    state_helper_.process_state_data(
-      data_pkg,
-      urcl_joint_positions_,
-      urcl_joint_velocities_,
-      urcl_joint_efforts_,
-      target_speed_fraction_,
-      speed_scaling_,
-      runtime_state_,
-      urcl_ft_sensor_measurements_,
-      urcl_tcp_pose_,
-      standard_analog_input_,
-      standard_analog_output_,
-      tool_analog_input_,
-      tool_output_current_,
-      tool_temperature_,
-      robot_status_bits_,
-      robot_status_bits_copy_,
-      safety_status_bits_,
-      safety_status_bits_copy_,
-      actual_dig_in_bits_,
-      actual_dig_in_bits_copy_,
-      analog_io_types_,
-      analog_io_types_copy_,
-      tool_analog_input_types_, 
-      tool_analog_input_types_copy_, 
-      tcp_rotation_quat_,  
-      tcp_rotation_buffer,  
-      tcp_force_,  
-      tcp_torque_,   
-      actual_dig_out_bits_,  
-      actual_dig_out_bits_copy_,  
-      tool_output_voltage_,  
-      tool_output_voltage_copy_,  
-      robot_mode_,  
-      robot_mode_copy_,  
-      safety_mode_,  
-      safety_mode_copy_,  
-      tool_mode_,  
-      tool_mode_copy_,  
-      initialized_,  
-      system_interface_initialized_,  
-      robot_program_running_,  
-      robot_program_running_copy_ 
-  );
+    state_helper_.process_state_data(data_pkg, initialized_, robot_program_running_);
   
     // readData(data_pkg, "actual_q", urcl_joint_positions_);
     // readData(data_pkg, "actual_qd", urcl_joint_velocities_);
@@ -810,36 +740,36 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
     // TODO(anyone): logic for sending other stuff to higher level interface
 
-    // pausing state follows runtime state when pausing
-    if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
-      pausing_state_ = PausingState::PAUSED;
-    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
-               pausing_state_ == PausingState::PAUSED) {
-      // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
-      speed_scaling_combined_ = 0.0;
-      pausing_state_ = PausingState::RAMPUP;
-    }
-
-    if (pausing_state_ == PausingState::RAMPUP) {
-      double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
-      speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
-
-      if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
-        pausing_state_ = PausingState::RUNNING;
-      }
-    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
-      // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
-      // continuing to interpolate
-      speed_scaling_combined_ = 0.0;
-    } else {
-      // Normal case
-      speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
-    }
+    // // pausing state follows runtime state when pausing
+    // if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
+    //   pausing_state_ = PausingState::PAUSED;
+    // } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
+    //            pausing_state_ == PausingState::PAUSED) {
+    //   // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
+    //   speed_scaling_combined_ = 0.0;
+    //   pausing_state_ = PausingState::RAMPUP;
+    // }
+
+    // if (pausing_state_ == PausingState::RAMPUP) {
+    //   double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
+    //   speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
+
+    //   if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
+    //     pausing_state_ = PausingState::RUNNING;
+    //   }
+    // } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
+    //   // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
+    //   // continuing to interpolate
+    //   speed_scaling_combined_ = 0.0;
+    // } else {
+    //   // Normal case
+    //   speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
+    // }
 
     if (first_pass_ && !initialized_) {
       initAsyncIO();
       // initialize commands
-      urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
+      urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
       urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
       target_speed_fraction_cmd_ = NO_NEW_CMD_;
       resend_robot_program_cmd_ = NO_NEW_CMD_;
@@ -880,8 +810,8 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
   // If there is no interpreting program running on the robot, we do not want to send anything.
   // TODO(anyone): We would still like to disable the controllers requiring a writable interface. In ROS1
   // this was done externally using the controller_stopper.
-  if ((runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
-       runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
+  if ((state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
+       state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
       robot_program_running_ && (!non_blocking_read_ || packet_read_)) {
     if (position_controller_running_) {
       ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ, receive_timeout_);
@@ -1306,7 +1236,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
   if (stop_modes_[0].size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
                                               StoppingInterface::STOP_POSITION) != stop_modes_[0].end()) {
     position_controller_running_ = false;
-    urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
+    urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
   } else if (stop_modes_[0].size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
                                                      StoppingInterface::STOP_VELOCITY) != stop_modes_[0].end()) {
     velocity_controller_running_ = false;
@@ -1333,7 +1263,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
                                             hardware_interface::HW_IF_POSITION) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     passthrough_trajectory_controller_running_ = false;
-    urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
+    urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
     position_controller_running_ = true;
 
   } else if (start_modes_[0].size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),

From f72c17800ef8b482cbe172ed9a5390a3028878df Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 2 Apr 2025 11:09:30 +0200
Subject: [PATCH 13/99] removed some commented stuff

---
 .../ur_robot_driver/ur_state_helper.hpp       |  7 ---
 ur_robot_driver/src/hardware_interface.cpp    | 44 +------------------
 2 files changed, 1 insertion(+), 50 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 9496f88d6..70a991841 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -277,12 +277,10 @@ class URStateHelper
     }
 
     // Private member variables
-    // urcl::vector6d_t urcl_joint_positions_;  //--> public
     urcl::vector6d_t urcl_joint_velocities_;
     urcl::vector6d_t urcl_joint_efforts_;
     double target_speed_fraction_;
     double speed_scaling_;
-    // uint32_t runtime_state_;  //--> public
     urcl::vector6d_t urcl_ft_sensor_measurements_;
     urcl::vector6d_t urcl_tcp_pose_;
     std::array<double, 2> standard_analog_input_;
@@ -314,20 +312,15 @@ class URStateHelper
     double safety_mode_copy_;
     uint32_t tool_mode_;
     double tool_mode_copy_;
-    // bool initialized_;   // weiterhin als Referenz übergeben
     double system_interface_initialized_;
-    // bool robot_program_running_;     // weiterhin als Referenz übergeben
     double robot_program_running_copy_;
     double speed_scaling_combined_;
     double get_robot_software_version_major_;
     double get_robot_software_version_minor_;
     double get_robot_software_version_bugfix_;
     double get_robot_software_version_build_;
-
-
     PausingState pausing_state_;
     double pausing_ramp_up_increment_;
-
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 0aca90c1a..be86b28e7 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -705,38 +705,9 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
     // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
 
-    // state_helper_.read_data(data_pkg, "actual_q", urcl_joint_positions_);
-    // state_helper_.read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
-    // state_helper_.read_data(data_pkg, "actual_current", urcl_joint_efforts_);
-    // state_helper_.read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
-    // state_helper_.read_data(data_pkg, "speed_scaling", speed_scaling_);
-    // state_helper_.read_data(data_pkg, "runtime_state", runtime_state_);
-    // state_helper_.read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-    // state_helper_.read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    // state_helper_.read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-    // state_helper_.read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-    // state_helper_.read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-    // state_helper_.read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-    // state_helper_.read_data(data_pkg, "tool_mode", tool_mode_);
-    // state_helper_.read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-    // state_helper_.read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-    // state_helper_.read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
-    // state_helper_.read_data(data_pkg, "tool_output_current", tool_output_current_);
-    // state_helper_.read_data(data_pkg, "tool_temperature", tool_temperature_);
-    // state_helper_.read_data(data_pkg, "robot_mode", robot_mode_);
-    // state_helper_.read_data(data_pkg, "safety_mode", safety_mode_);
-    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-    // state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-    // state_helper_.read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-    // state_helper_.read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-
     // required transforms
     // extractToolPose();
-    // state_helper_.extract_tool_pose(urcl_tcp_pose_, tcp_rotation_quat_, tcp_rotation_buffer);
     // transformForceTorque();
-    // state_helper_.transform_force_torque(tcp_rotation_quat_, tcp_force_, tcp_torque_, urcl_ft_sensor_measurements_);
 
     // TODO(anyone): logic for sending other stuff to higher level interface
 
@@ -781,20 +752,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
       initialized_ = true;
     }
 
-    // // updateNonDoubleValues();
-    // state_helper_.update_non_double_values(
-    //   actual_dig_out_bits_, actual_dig_out_bits_copy_,
-    //   actual_dig_in_bits_, actual_dig_in_bits_copy_,
-    //   safety_status_bits_, safety_status_bits_copy_,
-    //   analog_io_types_, analog_io_types_copy_,
-    //   robot_status_bits_, robot_status_bits_copy_,
-    //   tool_analog_input_types_, tool_analog_input_types_copy_,
-    //   tool_output_voltage_, tool_output_voltage_copy_,
-    //   robot_mode_, robot_mode_copy_,
-    //   safety_mode_, safety_mode_copy_,
-    //   tool_mode_, tool_mode_copy_,
-    //   initialized_, system_interface_initialized_,
-    //   robot_program_running_, robot_program_running_copy_);
+    // updateNonDoubleValues();
 
     return hardware_interface::return_type::OK;
   }

From c15dd16b2b47ce07af336d4832ad6c97530c518b Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 3 Apr 2025 15:05:10 +0200
Subject: [PATCH 14/99] prepared hardware_interface and ur_state_helper
 implementation for merge with main

---
 .../ur_robot_driver/hardware_interface.hpp    |  12 +-
 .../ur_robot_driver/ur_state_helper.hpp       |  52 ++++--
 ur_robot_driver/src/hardware_interface.cpp    | 171 +++++++++++-------
 3 files changed, 155 insertions(+), 80 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 425bae133..a4a276882 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -128,6 +128,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) final;
   hardware_interface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) final;
+  hardware_interface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State& previous_state) final;
 
   hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) final;
   hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) final;
@@ -158,6 +159,9 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void readBitsetData(const std::unique_ptr<urcl::rtde_interface::DataPackage>& data_pkg, const std::string& var_name,
                       std::bitset<N>& data);
 
+  // stop function used by on_shutdown and on_cleanup
+  hardware_interface::CallbackReturn stop();
+
   void initAsyncIO();
   void checkAsyncIO();
   void updateNonDoubleValues();
@@ -178,6 +182,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // urcl::vector6d_t urcl_joint_efforts_;
   // urcl::vector6d_t urcl_ft_sensor_measurements_;
   // urcl::vector6d_t urcl_tcp_pose_;
+  // urcl::vector6d_t urcl_target_tcp_pose_;
+  // urcl::vector6d_t tcp_offset_;
   // tf2::Quaternion tcp_rotation_quat_;
   // Quaternion tcp_rotation_buffer;
 
@@ -205,10 +211,6 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // std::bitset<4> robot_status_bits_;
   // std::bitset<11> safety_status_bits_;
 
-  // transform stuff
-  // tf2::Vector3 tcp_force_;
-  // tf2::Vector3 tcp_torque_;
-
   // asynchronous commands
   std::array<double, 18> standard_dig_out_bits_cmd_;
   std::array<double, 2> standard_analog_output_cmd_;
@@ -313,4 +315,4 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 };
 }  // namespace ur_robot_driver
 
-#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
+#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
\ No newline at end of file
diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index 70a991841..fc8777eb6 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -138,6 +138,7 @@ class URStateHelper
         read_data(data_pkg, "runtime_state", runtime_state_);
         read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
         read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+        read_data(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
         read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
         read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
         read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
@@ -150,6 +151,7 @@ class URStateHelper
         read_data(data_pkg, "tool_temperature", tool_temperature_);
         read_data(data_pkg, "robot_mode", robot_mode_);
         read_data(data_pkg, "safety_mode", safety_mode_);
+        read_data(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
 
         read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
         read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
@@ -263,17 +265,39 @@ class URStateHelper
 
     void transform_force_torque()
     {
-        // imported from ROS1 driver - hardware_interface.cpp#L867-L876
-        tcp_force_.setValue(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1],
-                            urcl_ft_sensor_measurements_[2]);
-        tcp_torque_.setValue(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4],
-                            urcl_ft_sensor_measurements_[5]);
-
-        tcp_force_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_force_);
-        tcp_torque_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_torque_);
-
-        urcl_ft_sensor_measurements_ = { tcp_force_.x(),  tcp_force_.y(),  tcp_force_.z(),
-                                        tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
+        KDL::Wrench ft(
+            KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
+            KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
+        if (ur_driver_->getVersion().major >= 5)  // e-Series   // TODO(mathias31415) ur_driver_ hier nicht verfügbar
+        {
+            // Setup necessary frames
+            KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
+            double angle = vec.Normalize();
+            KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
+            KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
+
+            vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+            angle = vec.Normalize();
+            rotation = KDL::Rotation::Rot(vec, angle);
+            KDL::Frame base_to_tcp =
+                KDL::Frame(rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
+            // Calculate transformation from base to flange, see calculation details below
+            // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
+            KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
+            // rotate f/t sensor output back to the flange frame
+            ft = base_to_flange.M.Inverse() * ft;
+
+            // Transform the wrench to the tcp frame
+            ft = flange_to_tcp * ft;
+        } else {  // CB3
+            KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+            double angle = vec.Normalize();
+            KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
+
+            // rotate f/t sensor output back to the tcp frame
+            ft = base_to_tcp_rot.Inverse() * ft;
+        }
+        urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
     }
 
     // Private member variables
@@ -300,8 +324,8 @@ class URStateHelper
     std::array<double, 2> tool_analog_input_types_copy_;
     tf2::Quaternion tcp_rotation_quat_;
     ur_robot_driver::Quaternion tcp_rotation_buffer_;
-    tf2::Vector3 tcp_force_;
-    tf2::Vector3 tcp_torque_;
+    // tf2::Vector3 tcp_force_;
+    // tf2::Vector3 tcp_torque_;
     std::bitset<18> actual_dig_out_bits_;
     std::array<double, 18> actual_dig_out_bits_copy_;
     int32_t tool_output_voltage_;
@@ -321,6 +345,8 @@ class URStateHelper
     double get_robot_software_version_build_;
     PausingState pausing_state_;
     double pausing_ramp_up_increment_;
+    urcl::vector6d_t urcl_target_tcp_pose_;
+    urcl::vector6d_t tcp_offset_;
 };
 
 }  // namespace ur_robot_driver
\ No newline at end of file
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index be86b28e7..3bcac1815 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -58,9 +58,6 @@ namespace ur_robot_driver
 
 URPositionHardwareInterface::~URPositionHardwareInterface()
 {
-  // If the controller manager is shutdown via Ctrl + C the on_deactivate methods won't be called.
-  // We therefore need to make sure to actually deactivate the communication
-  on_cleanup(rclcpp_lifecycle::State());
 }
 
 hardware_interface::CallbackReturn
@@ -273,19 +270,19 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
 
   // return state_interfaces;
 
-  // extract joint names
-  std::vector<std::string> joint_names;
-  for (size_t i = 0; i < info_.joints.size(); ++i) {
-    joint_names.push_back(info_.joints[i].name);
-  }
-
-  // extract sensor names
-  std::vector<std::string> sensor_names;
-  for (size_t i = 0; i < info_.sensors.size(); ++i) {
-    sensor_names.push_back(info_.sensors[i].name);
-  }
-
-  return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
+   // extract joint names
+   std::vector<std::string> joint_names;
+   for (size_t i = 0; i < info_.joints.size(); ++i) {
+     joint_names.push_back(info_.joints[i].name);
+   }
+ 
+   // extract sensor names
+   std::vector<std::string> sensor_names;
+   for (size_t i = 0; i < info_.sensors.size(); ++i) {
+     sensor_names.push_back(info_.sensors[i].name);
+   }
+ 
+   return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
 }
 
 std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::export_command_interfaces()
@@ -542,11 +539,24 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   registerUrclLogHandler(tf_prefix);
   try {
     rtde_comm_has_been_started_ = false;
-    ur_driver_ = std::make_unique<urcl::UrDriver>(
-        robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
-        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
-        std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
-        servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
+    urcl::UrDriverConfiguration driver_config;
+    driver_config.robot_ip = robot_ip;
+    driver_config.script_file = script_filename;
+    driver_config.output_recipe_file = output_recipe_filename;
+    driver_config.input_recipe_file = input_recipe_filename;
+    driver_config.headless_mode = headless_mode;
+    driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
+    driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
+    driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
+    driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
+    driver_config.reverse_ip = reverse_ip;
+    driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
+    driver_config.servoj_lookahead_time = servoj_lookahead_time;
+    driver_config.non_blocking_read = non_blocking_read_;
+    driver_config.tool_comm_setup = std::move(tool_comm_setup);
+    driver_config.handle_program_state =
+        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1);
+    ur_driver_ = std::make_unique<urcl::UrDriver>(driver_config);
   } catch (urcl::ToolCommNotAvailable& e) {
     RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");
 
@@ -610,6 +620,19 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
 
 hardware_interface::CallbackReturn
 URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_state)
+{
+  RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_cleanup");
+  return stop();
+}
+
+hardware_interface::CallbackReturn
+URPositionHardwareInterface::on_shutdown(const rclcpp_lifecycle::State& previous_state)
+{
+  RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "on_shutdown");
+  return stop();
+}
+
+hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping ...please wait...");
 
@@ -632,11 +655,11 @@ URPositionHardwareInterface::on_cleanup(const rclcpp_lifecycle::State& previous_
 // void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
 //                                            const std::string& var_name, T& data)
 // {
-  // if (!data_pkg->getData(var_name, data)) {
-  //   // This throwing should never happen unless misconfigured
-  //   std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-  //   throw std::runtime_error(error_msg);
-  // }
+//   if (!data_pkg->getData(var_name, data)) {
+//     // This throwing should never happen unless misconfigured
+//     std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+//     throw std::runtime_error(error_msg);
+//   }
 // }
 
 // template <typename T, size_t N>
@@ -677,15 +700,17 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     packet_read_ = true;
 
     state_helper_.process_state_data(data_pkg, initialized_, robot_program_running_);
-  
+
     // readData(data_pkg, "actual_q", urcl_joint_positions_);
     // readData(data_pkg, "actual_qd", urcl_joint_velocities_);
     // readData(data_pkg, "actual_current", urcl_joint_efforts_);
+
     // readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
     // readData(data_pkg, "speed_scaling", speed_scaling_);
     // readData(data_pkg, "runtime_state", runtime_state_);
     // readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
     // readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
     // readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
     // readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
     // readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
@@ -704,6 +729,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
     // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
     // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+    readData(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
 
     // required transforms
     // extractToolPose();
@@ -711,7 +737,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
     // TODO(anyone): logic for sending other stuff to higher level interface
 
-    // // pausing state follows runtime state when pausing
+    // pausing state follows runtime state when pausing
     // if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
     //   pausing_state_ = PausingState::PAUSED;
     // } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
@@ -769,7 +795,7 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
   // TODO(anyone): We would still like to disable the controllers requiring a writable interface. In ROS1
   // this was done externally using the controller_stopper.
   if ((state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
-       state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
+      state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
       robot_program_running_ && (!non_blocking_read_ || packet_read_)) {
     if (position_controller_running_) {
       ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ, receive_timeout_);
@@ -916,46 +942,67 @@ void URPositionHardwareInterface::checkAsyncIO()
 
 // void URPositionHardwareInterface::updateNonDoubleValues()
 // {
-  // for (size_t i = 0; i < 18; ++i) {
-  //   actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
-  //   actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
-  // }
-
-  // for (size_t i = 0; i < 11; ++i) {
-  //   safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
-  // }
+//   for (size_t i = 0; i < 18; ++i) {
+//     actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
+//     actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
+//   }
 
-  // for (size_t i = 0; i < 4; ++i) {
-  //   analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
-  //   robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
-  // }
+//   for (size_t i = 0; i < 11; ++i) {
+//     safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
+//   }
 
-  // for (size_t i = 0; i < 2; ++i) {
-  //   tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
-  // }
+//   for (size_t i = 0; i < 4; ++i) {
+//     analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
+//     robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
+//   }
 
-  // tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
-  // robot_mode_copy_ = static_cast<double>(robot_mode_);
-  // safety_mode_copy_ = static_cast<double>(safety_mode_);
-  // tool_mode_copy_ = static_cast<double>(tool_mode_);
-  // system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
-  // robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
+//   for (size_t i = 0; i < 2; ++i) {
+//     tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
+//   }
 
+//   tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
+//   robot_mode_copy_ = static_cast<double>(robot_mode_);
+//   safety_mode_copy_ = static_cast<double>(safety_mode_);
+//   tool_mode_copy_ = static_cast<double>(tool_mode_);
+//   system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
+//   robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
 // }
 
 // void URPositionHardwareInterface::transformForceTorque()
 // {
-//   // imported from ROS1 driver - hardware_interface.cpp#L867-L876
-//   tcp_force_.setValue(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1],
-//                       urcl_ft_sensor_measurements_[2]);
-//   tcp_torque_.setValue(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4],
-//                        urcl_ft_sensor_measurements_[5]);
-
-//   tcp_force_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_force_);
-//   tcp_torque_ = tf2::quatRotate(tcp_rotation_quat_.inverse(), tcp_torque_);
-
-//   urcl_ft_sensor_measurements_ = { tcp_force_.x(),  tcp_force_.y(),  tcp_force_.z(),
-//                                    tcp_torque_.x(), tcp_torque_.y(), tcp_torque_.z() };
+//   KDL::Wrench ft(
+//       KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
+//       KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
+//   if (ur_driver_->getVersion().major >= 5)  // e-Series
+//   {
+//     // Setup necessary frames
+//     KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
+//     double angle = vec.Normalize();
+//     KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
+//     KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
+
+//     vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+//     angle = vec.Normalize();
+//     rotation = KDL::Rotation::Rot(vec, angle);
+//     KDL::Frame base_to_tcp =
+//         KDL::Frame(rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
+//     // Calculate transformation from base to flange, see calculation details below
+//     // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
+//     KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
+//     // rotate f/t sensor output back to the flange frame
+//     ft = base_to_flange.M.Inverse() * ft;
+
+//     // Transform the wrench to the tcp frame
+//     ft = flange_to_tcp * ft;
+//   } else {  // CB3
+//     KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+//     double angle = vec.Normalize();
+//     KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
+
+//     // rotate f/t sensor output back to the tcp frame
+//     ft = base_to_tcp_rot.Inverse() * ft;
+//   }
+//   urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
 // }
 
 // void URPositionHardwareInterface::extractToolPose()
@@ -1377,4 +1424,4 @@ bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<doubl
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
\ No newline at end of file

From 12c70e69d1d36f77d03138eef3f37c8b57789a36 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 3 Apr 2025 15:17:15 +0200
Subject: [PATCH 15/99] changed if (ur_driver_->getVersion().major >= 5) to if
 (get_robot_software_version_major_>= 5) in transform_force_torque()  since
 ur_driver_ is not available in the ur_state_helper.hpp

---
 ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
index fc8777eb6..9eef18d4f 100644
--- a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
@@ -268,7 +268,7 @@ class URStateHelper
         KDL::Wrench ft(
             KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
             KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
-        if (ur_driver_->getVersion().major >= 5)  // e-Series   // TODO(mathias31415) ur_driver_ hier nicht verfügbar
+        if (get_robot_software_version_major_>= 5)  // e-Series
         {
             // Setup necessary frames
             KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);

From d4654782526c054dfe4f499c93cc9ff248e7ebb4 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 3 Apr 2025 16:31:52 +0200
Subject: [PATCH 16/99] renamed ur_state_helper.hpp to tateinterface_helper.hpp

---
 ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp  | 2 +-
 .../{ur_state_helper.hpp => stateinterface_helper.hpp}          | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename ur_robot_driver/include/ur_robot_driver/{ur_state_helper.hpp => stateinterface_helper.hpp} (100%)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index a4a276882..22d626de7 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -64,7 +64,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 // Helper class to outsource state interface stuff
-#include "ur_robot_driver/ur_state_helper.hpp"
+#include "ur_robot_driver/stateinterface_helper.hpp"
 #include "ur_robot_driver/quaternion.hpp"
 
 namespace ur_robot_driver
diff --git a/ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
similarity index 100%
rename from ur_robot_driver/include/ur_robot_driver/ur_state_helper.hpp
rename to ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp

From f5059b486836c5625a69831bb68c7e15aa321bff Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 3 Apr 2025 16:40:29 +0200
Subject: [PATCH 17/99] changed method names in stateinterface_helper.hpp from
 snake to camel case to fit the rest of the repo

---
 .../ur_robot_driver/stateinterface_helper.hpp | 80 +++++++++----------
 ur_robot_driver/src/hardware_interface.cpp    |  4 +-
 2 files changed, 42 insertions(+), 42 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
index 9eef18d4f..e5bd2020b 100644
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
@@ -36,7 +36,7 @@ class URStateHelper
         system_interface_initialized_ = 0.0;
     }
 
-    void set_robot_software_version(const urcl::VersionInformation& version_info) {
+    void setRobotSoftwareVersion(const urcl::VersionInformation& version_info) {
         get_robot_software_version_major_ = version_info.major;
         get_robot_software_version_minor_ = version_info.minor;
         get_robot_software_version_build_ = version_info.build;
@@ -124,44 +124,44 @@ class URStateHelper
         return state_interfaces;
     }
 
-    void process_state_data(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
+    void processStateData(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
     {
         if (!data_pkg) {
             return;
         }
 
-        read_data(data_pkg, "actual_q", urcl_joint_positions_);
-        read_data(data_pkg, "actual_qd", urcl_joint_velocities_);
-        read_data(data_pkg, "actual_current", urcl_joint_efforts_);
-        read_data(data_pkg, "target_speed_fraction", target_speed_fraction_);
-        read_data(data_pkg, "speed_scaling", speed_scaling_);
-        read_data(data_pkg, "runtime_state", runtime_state_);
-        read_data(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-        read_data(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-        read_data(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
-        read_data(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-        read_data(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-        read_data(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-        read_data(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-        read_data(data_pkg, "tool_mode", tool_mode_);
-        read_data(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-        read_data(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-        read_data(data_pkg, "tool_output_voltage", tool_output_voltage_);
-        read_data(data_pkg, "tool_output_current", tool_output_current_);
-        read_data(data_pkg, "tool_temperature", tool_temperature_);
-        read_data(data_pkg, "robot_mode", robot_mode_);
-        read_data(data_pkg, "safety_mode", safety_mode_);
-        read_data(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
-
-        read_bitset_data<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-        read_bitset_data<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-        read_bitset_data<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-        read_bitset_data<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-        read_bitset_data<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-        read_bitset_data<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-
-        extract_tool_pose();
-        transform_force_torque();
+        readData(data_pkg, "actual_q", urcl_joint_positions_);
+        readData(data_pkg, "actual_qd", urcl_joint_velocities_);
+        readData(data_pkg, "actual_current", urcl_joint_efforts_);
+        readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
+        readData(data_pkg, "speed_scaling", speed_scaling_);
+        readData(data_pkg, "runtime_state", runtime_state_);
+        readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+        readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+        readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
+        readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+        readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+        readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+        readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+        readData(data_pkg, "tool_mode", tool_mode_);
+        readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+        readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+        readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
+        readData(data_pkg, "tool_output_current", tool_output_current_);
+        readData(data_pkg, "tool_temperature", tool_temperature_);
+        readData(data_pkg, "robot_mode", robot_mode_);
+        readData(data_pkg, "safety_mode", safety_mode_);
+        readData(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
+
+        readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+        readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+        readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+        readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+        readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+        readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+
+        extractToolPose();
+        transformForceTorque();
 
         // pausing state follows runtime state when pausing
         if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
@@ -189,7 +189,7 @@ class URStateHelper
             speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
         }
 
-        update_non_double_values(initialized, robot_program_running);
+        updateNonDoubleValues(initialized, robot_program_running);
     
 
             
@@ -199,7 +199,7 @@ class URStateHelper
     uint32_t runtime_state_;
 
 private:
-    void update_non_double_values(bool initialized, bool robot_program_running)
+    void updateNonDoubleValues(bool initialized, bool robot_program_running)
     {
         for (size_t i = 0; i < 18; ++i) {
             actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
@@ -229,7 +229,7 @@ class URStateHelper
 
 
     template <typename T>
-    void read_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
+    void readData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
     {
         if (!data_pkg->getData(var_name, data)) {
             // This throwing should never happen unless misconfigured
@@ -239,7 +239,7 @@ class URStateHelper
     }
 
     template <typename T, size_t N>
-    void read_bitset_data(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
+    void readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
     {
         if (!data_pkg->getData<T, N>(var_name, data)) {
             // This throwing should never happen unless misconfigured
@@ -248,7 +248,7 @@ class URStateHelper
         }
     }
 
-    void extract_tool_pose()
+    void extractToolPose()
     {
         // imported from ROS1 driver hardware_interface.cpp#L911-L928
         double tcp_angle =
@@ -263,7 +263,7 @@ class URStateHelper
         tcp_rotation_buffer_.set(tcp_rotation_quat_);
     }
 
-    void transform_force_torque()
+    void transformForceTorque()
     {
         KDL::Wrench ft(
             KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index afed13b04..a80c1cf3e 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -587,7 +587,7 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
 
   // Export version information to state interfaces
   urcl::VersionInformation version_info = ur_driver_->getVersion();
-  state_helper_.set_robot_software_version(version_info);
+  state_helper_.setRobotSoftwareVersion(version_info);
   // get_robot_software_version_major_ = version_info.major;
   // get_robot_software_version_minor_ = version_info.minor;
   // get_robot_software_version_build_ = version_info.build;
@@ -699,7 +699,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
   if (data_pkg) {
     packet_read_ = true;
 
-    state_helper_.process_state_data(data_pkg, initialized_, robot_program_running_);
+    state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
 
     // readData(data_pkg, "actual_q", urcl_joint_positions_);
     // readData(data_pkg, "actual_qd", urcl_joint_velocities_);

From ff8fc72770daf9d68dec122f16a16ffdd742a831 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 8 Apr 2025 16:37:59 +0200
Subject: [PATCH 18/99] added motion_primitives_ur_driver_pkg from
 https://github.com/mathias31415/ros2_motion_primitives_ur_driver_pkg to the
 Universal_Robots_ROS2_Driver

---
 .../CMakeLists.txt                            | 123 ++++
 motion_primitives_ur_driver_pkg/LICENSE       |  25 +
 motion_primitives_ur_driver_pkg/README.md     |  64 ++
 .../config/ur_controllers.yaml                | 212 ++++++
 .../motion_primitives_ur_driver.hpp           | 129 ++++
 .../visibility_control.h                      |  49 ++
 .../motion_primitive_controller_ur.launch.py  | 496 ++++++++++++++
 .../launch/ur_rsp.launch.py                   | 475 +++++++++++++
 ...ion_primitives_ur_driver_pkg.rolling.repos |   6 +
 ...tives_ur_driver_pkg.rolling.upstream.repos |   6 +
 .../motion_primitives_ur_driver_pkg.xml       |   9 +
 .../__init__.py                               |   0
 motion_primitives_ur_driver_pkg/package.xml   |  38 ++
 .../send_multiple_dummy_motion_primitives.py  | 126 ++++
 ...motion_primitives_after_checking_status.py | 119 ++++
 .../send_single_dummy_motion_primitive.py     |  75 ++
 .../src/motion_primitives_ur_driver.cpp       | 639 ++++++++++++++++++
 .../test/test_motion_primitives_ur_driver.cpp |  57 ++
 .../motion_primitive_ur.ros2_control.xacro    | 335 +++++++++
 .../urdf/motion_primitive_ur.urdf.xacro       | 112 +++
 .../urdf/ur_joint_control.xacro               |  93 +++
 21 files changed, 3188 insertions(+)
 create mode 100644 motion_primitives_ur_driver_pkg/CMakeLists.txt
 create mode 100644 motion_primitives_ur_driver_pkg/LICENSE
 create mode 100644 motion_primitives_ur_driver_pkg/README.md
 create mode 100644 motion_primitives_ur_driver_pkg/config/ur_controllers.yaml
 create mode 100644 motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp
 create mode 100644 motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h
 create mode 100644 motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py
 create mode 100644 motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py
 create mode 100644 motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos
 create mode 100644 motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos
 create mode 100644 motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
 create mode 100644 motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg/__init__.py
 create mode 100644 motion_primitives_ur_driver_pkg/package.xml
 create mode 100755 motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py
 create mode 100755 motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
 create mode 100755 motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py
 create mode 100644 motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp
 create mode 100644 motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp
 create mode 100644 motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro
 create mode 100644 motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro
 create mode 100644 motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro

diff --git a/motion_primitives_ur_driver_pkg/CMakeLists.txt b/motion_primitives_ur_driver_pkg/CMakeLists.txt
new file mode 100644
index 000000000..7f2c28d7b
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/CMakeLists.txt
@@ -0,0 +1,123 @@
+cmake_minimum_required(VERSION 3.8)
+project(motion_primitives_ur_driver_pkg)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(ament_cmake_gmock REQUIRED)
+find_package(ros2_control_test_assets REQUIRED)
+find_package(motion_primitives_forward_controller REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(industrial_robot_motion_interfaces REQUIRED)
+# find_package(urcl REQUIRED)
+find_package(ur_client_library REQUIRED)
+find_package(ur_robot_driver REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+include_directories(
+  ${ur_robot_driver_INCLUDE_DIRS}
+  ${tf2_INCLUDE_DIRS}
+  ${tf2_geometry_msgs_INCLUDE_DIRS}
+  ${motion_primitives_forward_controller_INCLUDE_DIRS}
+  )
+
+add_library(
+  motion_primitives_ur_driver_pkg
+  SHARED
+  src/motion_primitives_ur_driver.cpp
+)
+target_include_directories(
+  motion_primitives_ur_driver_pkg
+  PUBLIC
+  include
+)
+ament_target_dependencies(
+  motion_primitives_ur_driver_pkg
+  hardware_interface
+  rclcpp
+  rclcpp_lifecycle
+  motion_primitives_forward_controller
+  ur_client_library
+  tf2
+  tf2_geometry_msgs
+)
+# prevent pluginlib from using boost
+target_compile_definitions(motion_primitives_ur_driver_pkg PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(
+  hardware_interface motion_primitives_ur_driver_pkg.xml)
+
+install(
+  TARGETS
+  motion_primitives_ur_driver_pkg
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(
+  DIRECTORY urdf/
+  DESTINATION share/${PROJECT_NAME}/urdf
+)
+
+install(
+  DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+# Install Python execs
+ament_python_install_package(${PROJECT_NAME})
+
+# Install the Python script as an executable
+install(PROGRAMS
+  scripts/send_single_dummy_motion_primitive.py  # Python script
+  scripts/send_multiple_dummy_motion_primitives_after_checking_status.py 
+  scripts/send_multiple_dummy_motion_primitives.py 
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+
+  ament_add_gmock(test_motion_primitives_ur_driver test/test_motion_primitives_ur_driver.cpp)
+  target_include_directories(test_motion_primitives_ur_driver PRIVATE include)
+  ament_target_dependencies(
+    test_motion_primitives_ur_driver
+    hardware_interface
+    pluginlib
+    ros2_control_test_assets
+  )
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  motion_primitives_ur_driver_pkg
+)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
+ament_package()
diff --git a/motion_primitives_ur_driver_pkg/LICENSE b/motion_primitives_ur_driver_pkg/LICENSE
new file mode 100644
index 000000000..574ef0790
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/motion_primitives_ur_driver_pkg/README.md b/motion_primitives_ur_driver_pkg/README.md
new file mode 100644
index 000000000..16493ada0
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/README.md
@@ -0,0 +1,64 @@
+motion_primitives_ur_driver_pkg
+==========================================
+
+Driver package to control ur robot using motion primitives like MOVEJ (PTP), MOVEL (LIN) and MOVEC (CIRC)
+
+![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
+
+# Other packages needed
+- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library)
+- [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces)
+- ~~[motion_primitives_controller_pkg](https://github.com/mathias31415/ros2_motion_primitives_controller_pkg)~~
+- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
+- [Universal_Robots_ROS2_Driver](https://github.com/mathias31415/Universal_Robots_ROS2_Driver)
+- ~~[Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)~~
+- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
+ 
+
+# Notes
+## (Launch ur driver without motion_primitives_ur_driver)
+```
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
+```
+## Launch motion_primitives_ur_driver
+```
+ros2 launch motion_primitives_ur_driver_pkg motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
+```
+## Publish dummy commands
+### Single motion primitive
+```
+ros2 run motion_primitives_ur_driver_pkg send_single_dummy_motion_primitive.py
+```
+### Multiple motion primitives after checking status=2 (success)
+```
+ros2 run motion_primitives_ur_driver_pkg send_multiple_dummy_motion_primitives_after_checking_status.py
+```
+### Multiple motion primitives without checking status
+```
+ros2 run motion_primitives_ur_driver_pkg send_multiple_dummy_motion_primitives.py
+```
+## Publish stop motion command 
+```
+ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 66, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
+
+```
+
+## Start UR-Sim
+```
+docker run --rm -it universalrobots/ursim_e-series
+```
+
+## Enable Remote Control on UR
+Remote control needs to be enabled:
+https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.html
+
+
+
+# TODO's
+- if trajectory is finished while instruction_executer->cancelMotion() is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call instruction_executer->cancelMotion() a second time
+- motion sequence instead of single primitives?
+
+## Useful sources
+- https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
+- https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
+- ...
\ No newline at end of file
diff --git a/motion_primitives_ur_driver_pkg/config/ur_controllers.yaml b/motion_primitives_ur_driver_pkg/config/ur_controllers.yaml
new file mode 100644
index 000000000..99264a97a
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/config/ur_controllers.yaml
@@ -0,0 +1,212 @@
+controller_manager:
+  ros__parameters:
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    io_and_status_controller:
+      type: ur_controllers/GPIOController
+
+    speed_scaling_state_broadcaster:
+      type: ur_controllers/SpeedScalingStateBroadcaster
+
+    force_torque_sensor_broadcaster:
+      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    scaled_joint_trajectory_controller:
+      type: ur_controllers/ScaledJointTrajectoryController
+
+    forward_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    forward_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+    force_mode_controller:
+      type: ur_controllers/ForceModeController
+
+    freedrive_mode_controller:
+      type: ur_controllers/FreedriveModeController
+
+    passthrough_trajectory_controller:
+      type: ur_controllers/PassthroughTrajectoryController
+
+    tcp_pose_broadcaster:
+      type: pose_broadcaster/PoseBroadcaster
+
+    ur_configuration_controller:
+      type: ur_controllers/URConfigurationController
+
+    motion_primitive_controller:
+      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
+
+speed_scaling_state_broadcaster:
+  ros__parameters:
+    state_publish_rate: 100.0
+    tf_prefix: "$(var tf_prefix)"
+
+io_and_status_controller:
+  ros__parameters:
+    tf_prefix: "$(var tf_prefix)"
+
+ur_configuration_controller:
+  ros__parameters:
+    tf_prefix: "$(var tf_prefix)"
+
+force_torque_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: $(var tf_prefix)tcp_fts_sensor
+    state_interface_names:
+      - force.x
+      - force.y
+      - force.z
+      - torque.x
+      - torque.y
+      - torque.z
+    frame_id: $(var tf_prefix)tool0
+    topic_name: ft_data
+
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      $(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+
+
+scaled_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    constraints:
+      stopped_velocity_tolerance: 0.2
+      goal_time: 0.0
+      $(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
+      $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+    speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
+
+passthrough_trajectory_controller:
+  ros__parameters:
+    tf_prefix: "$(var tf_prefix)"
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+    state_interfaces:
+      - position
+      - velocity
+    speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
+
+forward_velocity_controller:
+  ros__parameters:
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+    interface_name: velocity
+
+forward_position_controller:
+  ros__parameters:
+    joints:
+      - $(var tf_prefix)shoulder_pan_joint
+      - $(var tf_prefix)shoulder_lift_joint
+      - $(var tf_prefix)elbow_joint
+      - $(var tf_prefix)wrist_1_joint
+      - $(var tf_prefix)wrist_2_joint
+      - $(var tf_prefix)wrist_3_joint
+
+force_mode_controller:
+  ros__parameters:
+    tf_prefix: "$(var tf_prefix)"
+
+freedrive_mode_controller:
+  ros__parameters:
+    tf_prefix: "$(var tf_prefix)"
+
+tcp_pose_broadcaster:
+  ros__parameters:
+    frame_id: $(var tf_prefix)base
+    pose_name: $(var tf_prefix)tcp_pose
+    tf:
+      child_frame_id: $(var tf_prefix)tool0_controller
+
+
+
+motion_primitive_controller:
+  ros__parameters:
+    name: motion_primitive
+    command_interfaces:
+      - motion_type
+      - q1
+      - q2
+      - q3
+      - q4
+      - q5
+      - q6
+      - pos_x
+      - pos_y
+      - pos_z
+      - pos_qx
+      - pos_qy
+      - pos_qz
+      - pos_qw
+      - pos_via_x
+      - pos_via_y
+      - pos_via_z
+      - pos_via_qx
+      - pos_via_qy
+      - pos_via_qz
+      - pos_via_qw
+      - blend_radius
+      - velocity
+      - acceleration
+      - move_time
+    state_interfaces:
+      - execution_status
+    queue_size: 10    # queue size to buffer incoming commands
\ No newline at end of file
diff --git a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp b/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp
new file mode 100644
index 000000000..d76cd5c4d
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp
@@ -0,0 +1,129 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#define MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include "motion_primitives_ur_driver_pkg/visibility_control.h"
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/handle.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+
+#include <ur_client_library/ur/ur_driver.h>
+#include <ur_client_library/ur/instruction_executor.h>
+
+#include "ur_robot_driver/stateinterface_helper.hpp"
+
+#include "motion_primitives_forward_controller/execution_state.hpp"
+
+namespace motion_primitives_ur_driver_pkg
+{
+class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
+{
+public:
+  virtual ~MotionPrimitivesUrDriver();
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_init(
+    const hardware_interface::HardwareInfo & info) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::return_type read(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::return_type write(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  /*!
+   * \brief Callback to handle a change in the current state of the URCaps program running on the
+   * robot. Executed only on the state change.
+   *
+   * \param program_running True when the URCap program is running on the robot.
+   */
+  void handleRobotProgramState(bool program_running);
+  void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
+
+
+private:
+  void reset_command_interfaces(); // Function to reset all command interfaces to NaN
+  void asyncCommandThread();
+  void asyncStopMotionThread();
+  void processMotionCommand(const std::vector<double>& command);
+  void processStopCommand();
+  bool getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
+  bool getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
+  
+  // Async thread handling
+  std::unique_ptr<std::thread> async_command_thread_;
+  std::unique_ptr<std::thread> async_stop_motion_thread_;
+  std::atomic_bool async_thread_shutdown_{false};
+  std::mutex command_mutex_;
+  std::mutex stop_mutex_;
+  
+  // Command buffer for thread-safe communication
+  std::vector<double> pending_command_;
+  std::atomic_bool new_command_available_{false};
+  std::atomic_bool new_stop_available_{false};
+
+  
+  // Execution status
+  std::atomic<int8_t> current_execution_status_{ExecutionState::IDLE};
+
+
+  std::vector<double> hw_mo_prim_commands_;   // Command interfaces for the motion primitives
+  std::vector<double> hw_mo_prim_states_;    // State interfaces for the motion primitives
+
+  std::shared_ptr<urcl::UrDriver> ur_driver_;
+  std::shared_ptr<urcl::InstructionExecutor> instruction_executor_; // Shared pointer to the InstructionExecutor, which is responsible for executing motion commands.
+
+  ur_robot_driver::URStateHelper state_helper_; // Helper class to handle state interface stuff from the URPositionHardwareInterface
+  std::atomic_bool rtde_comm_has_been_started_ = false;
+
+  urcl::RobotReceiveTimeout receive_timeout_ = urcl::RobotReceiveTimeout::millisec(20);
+
+  bool initialized_;
+  bool robot_program_running_;
+
+  bool non_blocking_read_;
+};
+
+}  // namespace motion_primitives_ur_driver_pkg
+
+#endif  // MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
diff --git a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h b/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h
new file mode 100644
index 000000000..87c989a4c
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h
@@ -0,0 +1,49 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
+#define MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((dllexport))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __attribute__((dllimport))
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __declspec(dllexport)
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __declspec(dllimport)
+#endif
+#ifdef TEMPLATES__ROS2_CONTROL__VISIBILITY_BUILDING_DLL
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
+#endif
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((visibility("default")))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
+#if __GNUC__ >= 4
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC __attribute__((visibility("default")))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
+#endif
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
+#endif
+
+#endif  // MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
diff --git a/motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py b/motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py
new file mode 100644
index 000000000..81f6730ca
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py
@@ -0,0 +1,496 @@
+# Copyright (c) 2021 PickNik, Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+#
+# Author: Denis Stogl
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+)
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch.substitutions import (
+    AndSubstitution,
+    LaunchConfiguration,
+    NotSubstitution,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterFile
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context):
+    # Initialize Arguments
+    ur_type = LaunchConfiguration("ur_type")
+    robot_ip = LaunchConfiguration("robot_ip")
+    # General arguments
+    controllers_file = LaunchConfiguration("controllers_file")
+    description_launchfile = LaunchConfiguration("description_launchfile")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
+    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
+    activate_joint_controller = LaunchConfiguration("activate_joint_controller")
+    launch_rviz = LaunchConfiguration("launch_rviz")
+    rviz_config_file = LaunchConfiguration("rviz_config_file")
+    headless_mode = LaunchConfiguration("headless_mode")
+    launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
+    use_tool_communication = LaunchConfiguration("use_tool_communication")
+    tool_device_name = LaunchConfiguration("tool_device_name")
+    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[
+            LaunchConfiguration("update_rate_config_file"),
+            ParameterFile(controllers_file, allow_substs=True),
+            # We use the tf_prefix as substitution in there, so that's why we keep it as an
+            # argument for this launchfile
+        ],
+        output="screen",
+    )
+
+    dashboard_client_node = Node(
+        package="ur_robot_driver",
+        condition=IfCondition(
+            AndSubstitution(launch_dashboard_client, NotSubstitution(use_mock_hardware))
+        ),
+        executable="dashboard_client",
+        name="dashboard_client",
+        output="screen",
+        emulate_tty=True,
+        parameters=[{"robot_ip": robot_ip}],
+    )
+
+    tool_communication_node = Node(
+        package="ur_robot_driver",
+        condition=IfCondition(use_tool_communication),
+        executable="tool_communication.py",
+        name="ur_tool_comm",
+        output="screen",
+        parameters=[
+            {
+                "robot_ip": robot_ip,
+                "tcp_port": tool_tcp_port,
+                "device_name": tool_device_name,
+            }
+        ],
+    )
+
+    urscript_interface = Node(
+        package="ur_robot_driver",
+        executable="urscript_interface",
+        parameters=[{"robot_ip": robot_ip}],
+        output="screen",
+        condition=UnlessCondition(use_mock_hardware),
+    )
+
+    controller_stopper_node = Node(
+        package="ur_robot_driver",
+        executable="controller_stopper_node",
+        name="controller_stopper",
+        output="screen",
+        emulate_tty=True,
+        condition=UnlessCondition(use_mock_hardware),
+        parameters=[
+            {"headless_mode": headless_mode},
+            {"joint_controller_active": activate_joint_controller},
+            {
+                "consistent_controllers": [
+                    "io_and_status_controller",
+                    "force_torque_sensor_broadcaster",
+                    "joint_state_broadcaster",
+                    "speed_scaling_state_broadcaster",
+                    "tcp_pose_broadcaster",
+                    "ur_configuration_controller",
+                ]
+            },
+        ],
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        condition=IfCondition(launch_rviz),
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    # Spawn controllers
+    def controller_spawner(controllers, active=True):
+        inactive_flags = ["--inactive"] if not active else []
+        return Node(
+            package="controller_manager",
+            executable="spawner",
+            arguments=[
+                "--controller-manager",
+                "/controller_manager",
+                "--controller-manager-timeout",
+                controller_spawner_timeout,
+            ]
+            + inactive_flags
+            + controllers,
+        )
+
+    controllers_active = [
+        "joint_state_broadcaster",
+        "motion_primitive_controller",
+    ]
+        # "io_and_status_controller",
+        # "speed_scaling_state_broadcaster",
+        # "force_torque_sensor_broadcaster",
+        # "tcp_pose_broadcaster",
+        # "ur_configuration_controller",
+
+    controllers_inactive = [
+        
+    ]
+        # "scaled_joint_trajectory_controller",
+        # "joint_trajectory_controller",
+        # "forward_velocity_controller",
+        # "forward_position_controller",
+        # "force_mode_controller",
+        # "passthrough_trajectory_controller",
+        # "freedrive_mode_controller",
+    
+    if activate_joint_controller.perform(context) == "true":
+        controllers_active.append(initial_joint_controller.perform(context))
+        controllers_inactive.remove(initial_joint_controller.perform(context))
+
+    if use_mock_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
+
+    # controller_spawners = [
+    #     controller_spawner(controllers_active),
+    #     controller_spawner(controllers_inactive, active=False),
+    # ]
+    controller_spawners = []
+
+    if controllers_active:  # Check if controllers_active is not empty
+        controller_spawners.append(controller_spawner(controllers_active))
+
+    if controllers_inactive:  # Check if controllers_inactive is not empty
+        controller_spawners.append(controller_spawner(controllers_inactive, active=False))
+
+
+    rsp = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(description_launchfile),
+        launch_arguments={
+            "robot_ip": robot_ip,
+            "ur_type": ur_type,
+        }.items(),
+    )
+
+    nodes_to_start = [
+        control_node,
+        dashboard_client_node,
+        tool_communication_node,
+        controller_stopper_node,
+        rsp,
+        rviz_node,
+    ] + controller_spawners
+
+    # urscript_interface,
+
+    return nodes_to_start
+
+
+def generate_launch_description():
+    declared_arguments = []
+    # UR specific arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "ur_type",
+            description="Type/series of used UR robot.",
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur10",
+                "ur10e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip", description="IP address by which the robot can be reached."
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_limits",
+            default_value="true",
+            description="Enables the safety limits controller if true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_pos_margin",
+            default_value="0.15",
+            description="The margin to lower and upper limits in the safety controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_k_position",
+            default_value="20",
+            description="k-position factor in the safety controller.",
+        )
+    )
+    # General arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "controllers_file",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("motion_primitives_ur_driver_pkg"), "config", "ur_controllers.yaml"]
+            ),
+            description="YAML file with the controllers configuration.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_launchfile",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("motion_primitives_ur_driver_pkg"), "launch", "ur_rsp.launch.py"]
+            ),
+            description="Launchfile (absolute path) providing the description. "
+            "The launchfile has to start a robot_state_publisher node that "
+            "publishes the description topic.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tf_prefix",
+            default_value="",
+            description="tf_prefix of the joint names, useful for "
+            "multi-robot setup. If changed, also joint names in the controllers' configuration "
+            "have to be updated.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mock_sensor_commands",
+            default_value="false",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "headless_mode",
+            default_value="true",
+            description="Enable headless mode for robot control",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "controller_spawner_timeout",
+            default_value="10",
+            description="Timeout used when spawning controllers.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "initial_joint_controller",
+            default_value="scaled_joint_trajectory_controller",
+            choices=[
+                "scaled_joint_trajectory_controller",
+                "joint_trajectory_controller",
+                "forward_velocity_controller",
+                "forward_position_controller",
+                "freedrive_mode_controller",
+                "passthrough_trajectory_controller",
+            ],
+            description="Initially loaded robot controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "activate_joint_controller",
+            default_value="false",
+            description="Activate loaded joint controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rviz_config_file",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("ur_description"), "rviz", "view_robot.rviz"]
+            ),
+            description="RViz config file (absolute path) to use when launching rviz.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "launch_dashboard_client",
+            default_value="true",
+            description="Launch Dashboard Client?",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_tool_communication",
+            default_value="false",
+            description="Only available for e series!",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_parity",
+            default_value="0",
+            description="Parity configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_baud_rate",
+            default_value="115200",
+            description="Baud rate configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_stop_bits",
+            default_value="1",
+            description="Stop bits configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_rx_idle_chars",
+            default_value="1.5",
+            description="RX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tx_idle_chars",
+            default_value="3.5",
+            description="TX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_device_name",
+            default_value="/tmp/ttyUR",
+            description="File descriptor that will be generated for the tool communication device. "
+            "The user has be be allowed to write to this location. "
+            "Only effective, if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tcp_port",
+            default_value="54321",
+            description="Remote port that will be used for bridging the tool's serial device. "
+            "Only effective, if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_voltage",
+            default_value="0",  # 0 being a conservative value that won't destroy anything
+            description="Tool voltage that will be setup.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "reverse_ip",
+            default_value="0.0.0.0",
+            description="IP that will be used for the robot controller to communicate back to the driver.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "script_command_port",
+            default_value="50004",
+            description="Port that will be opened to forward URScript commands to the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "reverse_port",
+            default_value="50001",
+            description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "script_sender_port",
+            default_value="50002",
+            description="The driver will offer an interface to query the external_control URScript on this port.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "trajectory_port",
+            default_value="50003",
+            description="Port that will be opened for trajectory control.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            name="update_rate_config_file",
+            default_value=[
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ur_robot_driver"),
+                        "config",
+                    ]
+                ),
+                "/",
+                LaunchConfiguration("ur_type"),
+                "_update_rate.yaml",
+            ],
+        )
+    )
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py b/motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py
new file mode 100644
index 000000000..6fe67c67a
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py
@@ -0,0 +1,475 @@
+# Copyright (c) 2024 FZI Forschungszentrum Informatik
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+#
+# Author: Felix Exner
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+
+
+def generate_launch_description():
+    ur_type = LaunchConfiguration("ur_type")
+    robot_ip = LaunchConfiguration("robot_ip")
+    safety_limits = LaunchConfiguration("safety_limits")
+    safety_pos_margin = LaunchConfiguration("safety_pos_margin")
+    safety_k_position = LaunchConfiguration("safety_k_position")
+    # General arguments
+    kinematics_params_file = LaunchConfiguration("kinematics_params_file")
+    physical_params_file = LaunchConfiguration("physical_params_file")
+    visual_params_file = LaunchConfiguration("visual_params_file")
+    joint_limit_params_file = LaunchConfiguration("joint_limit_params_file")
+    description_file = LaunchConfiguration("description_file")
+    tf_prefix = LaunchConfiguration("tf_prefix")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
+    headless_mode = LaunchConfiguration("headless_mode")
+    use_tool_communication = LaunchConfiguration("use_tool_communication")
+    tool_parity = LaunchConfiguration("tool_parity")
+    tool_baud_rate = LaunchConfiguration("tool_baud_rate")
+    tool_stop_bits = LaunchConfiguration("tool_stop_bits")
+    tool_rx_idle_chars = LaunchConfiguration("tool_rx_idle_chars")
+    tool_tx_idle_chars = LaunchConfiguration("tool_tx_idle_chars")
+    tool_device_name = LaunchConfiguration("tool_device_name")
+    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
+    tool_voltage = LaunchConfiguration("tool_voltage")
+    reverse_ip = LaunchConfiguration("reverse_ip")
+    script_command_port = LaunchConfiguration("script_command_port")
+    reverse_port = LaunchConfiguration("reverse_port")
+    script_sender_port = LaunchConfiguration("script_sender_port")
+    trajectory_port = LaunchConfiguration("trajectory_port")
+
+    script_filename = PathJoinSubstitution(
+        [
+            FindPackageShare("ur_client_library"),
+            "resources",
+            "external_control.urscript",
+        ]
+    )
+    input_recipe_filename = PathJoinSubstitution(
+        [FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
+    )
+    output_recipe_filename = PathJoinSubstitution(
+        [FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"]
+    )
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            description_file,
+            " ",
+            "robot_ip:=",
+            robot_ip,
+            " ",
+            "joint_limit_params:=",
+            joint_limit_params_file,
+            " ",
+            "kinematics_params:=",
+            kinematics_params_file,
+            " ",
+            "physical_params:=",
+            physical_params_file,
+            " ",
+            "visual_params:=",
+            visual_params_file,
+            " ",
+            "safety_limits:=",
+            safety_limits,
+            " ",
+            "safety_pos_margin:=",
+            safety_pos_margin,
+            " ",
+            "safety_k_position:=",
+            safety_k_position,
+            " ",
+            "name:=",
+            ur_type,
+            " ",
+            "script_filename:=",
+            script_filename,
+            " ",
+            "input_recipe_filename:=",
+            input_recipe_filename,
+            " ",
+            "output_recipe_filename:=",
+            output_recipe_filename,
+            " ",
+            "tf_prefix:=",
+            tf_prefix,
+            " ",
+            "use_mock_hardware:=",
+            use_mock_hardware,
+            " ",
+            "mock_sensor_commands:=",
+            mock_sensor_commands,
+            " ",
+            "headless_mode:=",
+            headless_mode,
+            " ",
+            "use_tool_communication:=",
+            use_tool_communication,
+            " ",
+            "tool_parity:=",
+            tool_parity,
+            " ",
+            "tool_baud_rate:=",
+            tool_baud_rate,
+            " ",
+            "tool_stop_bits:=",
+            tool_stop_bits,
+            " ",
+            "tool_rx_idle_chars:=",
+            tool_rx_idle_chars,
+            " ",
+            "tool_tx_idle_chars:=",
+            tool_tx_idle_chars,
+            " ",
+            "tool_device_name:=",
+            tool_device_name,
+            " ",
+            "tool_tcp_port:=",
+            tool_tcp_port,
+            " ",
+            "tool_voltage:=",
+            tool_voltage,
+            " ",
+            "reverse_ip:=",
+            reverse_ip,
+            " ",
+            "script_command_port:=",
+            script_command_port,
+            " ",
+            "reverse_port:=",
+            reverse_port,
+            " ",
+            "script_sender_port:=",
+            script_sender_port,
+            " ",
+            "trajectory_port:=",
+            trajectory_port,
+            " ",
+        ]
+    )
+    robot_description = {
+        "robot_description": ParameterValue(robot_description_content, value_type=str)
+    }
+
+    declared_arguments = []
+    # UR specific arguments
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "ur_type",
+            description="Typo/series of used UR robot.",
+            choices=[
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur10",
+                "ur10e",
+                "ur16e",
+                "ur20",
+                "ur30",
+            ],
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip", description="IP address by which the robot can be reached."
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_limits",
+            default_value="true",
+            description="Enables the safety limits controller if true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_pos_margin",
+            default_value="0.15",
+            description="The margin to lower and upper limits in the safety controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "safety_k_position",
+            default_value="20",
+            description="k-position factor in the safety controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "joint_limit_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("ur_description"),
+                    "config",
+                    ur_type,
+                    "joint_limits.yaml",
+                ]
+            ),
+            description="Config file containing the joint limits (e.g. velocities, positions) of the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "kinematics_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("ur_description"),
+                    "config",
+                    ur_type,
+                    "default_kinematics.yaml",
+                ]
+            ),
+            description="The calibration configuration of the actual robot used.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "physical_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("ur_description"),
+                    "config",
+                    ur_type,
+                    "physical_parameters.yaml",
+                ]
+            ),
+            description="Config file containing the physical parameters (e.g. masses, inertia) of the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "visual_params_file",
+            default_value=PathJoinSubstitution(
+                [
+                    FindPackageShare("ur_description"),
+                    "config",
+                    ur_type,
+                    "visual_parameters.yaml",
+                ]
+            ),
+            description="Config file containing the visual parameters (e.g. meshes) of the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value=PathJoinSubstitution(
+                [FindPackageShare("motion_primitives_ur_driver_pkg"), "urdf", "motion_primitive_ur.urdf.xacro"]
+            ),
+            description="URDF/XACRO description file with the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tf_prefix",
+            default_value="",
+            description="tf_prefix of the joint names, useful for "
+            "multi-robot setup. If changed, also joint names in the controllers' configuration "
+            "have to be updated.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mock_sensor_commands",
+            default_value="false",
+            description="Enable mock command interfaces for sensors used for simple simulations. "
+            "Used only if 'use_mock_hardware' parameter is true.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "headless_mode",
+            default_value="false",
+            description="Enable headless mode for robot control",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "initial_joint_controller",
+            default_value="scaled_joint_trajectory_controller",
+            description="Initially loaded robot controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "activate_joint_controller",
+            default_value="true",
+            description="Activate loaded joint controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "launch_dashboard_client",
+            default_value="true",
+            description="Launch Dashboard Client?",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_tool_communication",
+            default_value="false",
+            description="Only available for e series!",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_parity",
+            default_value="0",
+            description="Parity configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_baud_rate",
+            default_value="115200",
+            description="Baud rate configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_stop_bits",
+            default_value="1",
+            description="Stop bits configuration for serial communication. Only effective, if "
+            "use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_rx_idle_chars",
+            default_value="1.5",
+            description="RX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tx_idle_chars",
+            default_value="3.5",
+            description="TX idle chars configuration for serial communication. Only effective, "
+            "if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_device_name",
+            default_value="/tmp/ttyUR",
+            description="File descriptor that will be generated for the tool communication device. "
+            "The user has be be allowed to write to this location. "
+            "Only effective, if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tcp_port",
+            default_value="54321",
+            description="Remote port that will be used for bridging the tool's serial device. "
+            "Only effective, if use_tool_communication is set to True.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_voltage",
+            default_value="0",  # 0 being a conservative value that won't destroy anything
+            description="Tool voltage that will be setup.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "reverse_ip",
+            default_value="0.0.0.0",
+            description="IP that will be used for the robot controller to communicate back to the driver.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "script_command_port",
+            default_value="50004",
+            description="Port that will be opened to forward URScript commands to the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "reverse_port",
+            default_value="50001",
+            description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "script_sender_port",
+            default_value="50002",
+            description="The driver will offer an interface to query the external_control URScript on this port.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "trajectory_port",
+            default_value="50003",
+            description="Port that will be opened for trajectory control.",
+        )
+    )
+
+    return LaunchDescription(
+        declared_arguments
+        + [
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                output="both",
+                parameters=[robot_description],
+            ),
+        ]
+    )
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos
new file mode 100644
index 000000000..1b3910e7e
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos
new file mode 100644
index 000000000..1b3910e7e
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
new file mode 100644
index 000000000..cf70a546e
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
@@ -0,0 +1,9 @@
+<library path="motion_primitives_ur_driver_pkg">
+  <class name="motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver"
+         type="motion_primitives_ur_driver_pkg::MotionPrimitivesUrDriver"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface.
+    </description>
+  </class>
+</library>
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg/__init__.py b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/motion_primitives_ur_driver_pkg/package.xml b/motion_primitives_ur_driver_pkg/package.xml
new file mode 100644
index 000000000..eb4930f34
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/package.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>motion_primitives_ur_driver_pkg</name>
+  <version>0.0.0</version>
+  <description>Driver package to control ur robot using motion primitives like PTP, LIN and CIRC</description>
+  <maintainer email="mathias31415@gmx.de">mathias31415</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_gmock</buildtool_depend> 
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>hardware_interface</depend>
+
+  <depend>pluginlib</depend>
+
+  <depend>rclcpp</depend>
+
+  <exec_depend>rclpy</exec_depend>
+
+  <depend>rclcpp_lifecycle</depend>
+
+  <depend>ros2_control_test_assets</depend>
+
+  <depend>motion_primitives_forward_controller</depend>
+
+  <depend>urcl</depend>
+
+  <depend>ur_robot_driver</depend>
+
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py b/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py
new file mode 100755
index 000000000..d1b44db11
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int8
+from geometry_msgs.msg import PoseStamped
+from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
+
+# 4 Motion primitives aus: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
+msg1 = MotionPrimitive()
+msg1.type = MotionPrimitive.LINEAR_JOINT
+msg1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
+# msg1.blend_radius = 0.5
+msg1.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=1.0),
+    MotionArgument(argument_name="acceleration", argument_value=1.0)]
+
+msg2 = MotionPrimitive()
+msg2.type = MotionPrimitive.LINEAR_JOINT
+# msg2.blend_radius = 0.5
+msg2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
+msg2.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=2.0)]
+
+msg3 = MotionPrimitive()
+msg3.type = MotionPrimitive.LINEAR_CARTESIAN
+msg3.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=2.0),
+    MotionArgument(argument_name="acceleration", argument_value=0.5),
+    MotionArgument(argument_name="move_time", argument_value=0.0)]
+pose3 = PoseStamped()
+pose3.pose.position.x = -0.203
+pose3.pose.position.y = 0.263
+pose3.pose.position.z = 0.559
+pose3.pose.orientation.x = -0.2734
+pose3.pose.orientation.y = -0.4930
+pose3.pose.orientation.z = -0.6086
+pose3.pose.orientation.w = 0.5584
+msg3.poses = [pose3]
+
+msg4 = MotionPrimitive()
+msg4.type = MotionPrimitive.LINEAR_CARTESIAN
+msg4.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=1.0),
+    MotionArgument(argument_name="acceleration", argument_value=0.5),
+    MotionArgument(argument_name="move_time", argument_value=2.0)]
+pose4 = PoseStamped()
+pose4.pose.position.x = -0.203
+pose4.pose.position.y = 0.463
+pose4.pose.position.z = 0.559
+pose4.pose.orientation.x = -0.2734
+pose4.pose.orientation.y = -0.4930
+pose4.pose.orientation.z = -0.6086
+pose4.pose.orientation.w = 0.5584
+msg4.poses = [pose4]
+
+# CIRC Befehl nicht unterstützt --> triggert motion sequence
+msg5 = MotionPrimitive()
+msg5.type = MotionPrimitive.CIRCULAR_CARTESIAN
+msg5.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=0.5),
+    MotionArgument(argument_name="acceleration", argument_value=0.1)]
+# urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
+# urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
+pose5_via = PoseStamped()
+pose5_via.pose.position.x = -0.150
+pose5_via.pose.position.y = 0.350
+pose5_via.pose.position.z = 0.550
+pose5_via.pose.orientation.x = -0.2222
+pose5_via.pose.orientation.y = -0.4905
+pose5_via.pose.orientation.z = -0.6098
+pose5_via.pose.orientation.w = 0.58155
+pose5_goal = PoseStamped()
+pose5_goal.pose.position.x = -0.100
+pose5_goal.pose.position.y = 0.400
+pose5_goal.pose.position.z = 0.550
+pose5_goal.pose.orientation.x = -0.2222
+pose5_goal.pose.orientation.y = -0.490
+pose5_goal.pose.orientation.z = -0.608
+pose5_goal.pose.orientation.w = 0.58155
+msg5.poses = [pose5_goal, pose5_via]    # fist pose is goal, second is via point
+
+# Dummy msg to execute motion sequence
+msg6 = MotionPrimitive()
+msg6.type = 33  # Dummy type
+msg6.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
+msg6.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=1.0),
+    MotionArgument(argument_name="acceleration", argument_value=1.0)]
+
+class MotionPublisher(Node):
+    def __init__(self):
+        super().__init__('motion_publisher')
+
+        # Publisher für MotionPrimitive-Nachrichten
+        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
+
+        # Nachrichten vorbereiten
+        self.messages = [msg1, msg2, msg3, msg4, msg5, msg6]
+        # self.messages = [msg1, msg2, msg3, msg4, msg1, msg2, msg3, msg4]
+        self.get_logger().info(f"Number of messages: {len(self.messages)}")
+
+        # Alle Nachrichten direkt senden
+        self.send_all_messages()
+    
+
+    def send_all_messages(self):
+        """ Sendet alle Nachrichten direkt nacheinander """
+        for i, msg in enumerate(self.messages):
+            self.get_logger().info(f"Sending message {i + 1} of {len(self.messages)}")
+            self.publisher_.publish(msg)
+            self.get_logger().info(f"Sent message {i + 1}: {msg}")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MotionPublisher()
+    rclpy.spin_once(node, timeout_sec=1)  # Kurzes Warten, um Nachrichten zu senden
+
+    # Cleanup
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py b/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
new file mode 100755
index 000000000..6c68378e2
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int8
+from geometry_msgs.msg import PoseStamped
+from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
+
+# 4 Motion primitives aus: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
+msg1 = MotionPrimitive()
+msg1.type = MotionPrimitive.LINEAR_JOINT
+msg1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
+# msg1.blend_radius = 0.5
+msg1.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=1.0),
+    MotionArgument(argument_name="acceleration", argument_value=1.0)]
+
+msg2 = MotionPrimitive()
+msg2.type = MotionPrimitive.LINEAR_JOINT
+# msg2.blend_radius = 0.5
+msg2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
+msg2.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=2.0)]
+
+msg3 = MotionPrimitive()
+msg3.type = MotionPrimitive.LINEAR_CARTESIAN
+msg3.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=2.0),
+    MotionArgument(argument_name="acceleration", argument_value=0.5),
+    MotionArgument(argument_name="move_time", argument_value=0.0)]
+pose3 = PoseStamped()
+pose3.pose.position.x = -0.203
+pose3.pose.position.y = 0.263
+pose3.pose.position.z = 0.559
+pose3.pose.orientation.x = -0.2734
+pose3.pose.orientation.y = -0.4930
+pose3.pose.orientation.z = -0.6086
+pose3.pose.orientation.w = 0.5584
+msg3.poses = [pose3]
+
+msg4 = MotionPrimitive()
+msg4.type = MotionPrimitive.LINEAR_CARTESIAN
+msg4.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=1.0),
+    MotionArgument(argument_name="acceleration", argument_value=0.5),
+    MotionArgument(argument_name="move_time", argument_value=2.0)]
+pose4 = PoseStamped()
+pose4.pose.position.x = -0.203
+pose4.pose.position.y = 0.463
+pose4.pose.position.z = 0.559
+pose4.pose.orientation.x = -0.2734
+pose4.pose.orientation.y = -0.4930
+pose4.pose.orientation.z = -0.6086
+pose4.pose.orientation.w = 0.5584
+msg4.poses = [pose4]
+
+
+class MotionPublisher(Node):
+    def __init__(self):
+        super().__init__('motion_publisher')
+
+        # Publisher für MotionPrimitive-Nachrichten
+        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
+
+        # Subscriber für den State
+        self.subscription = self.create_subscription(Int8, '/motion_primitive_controller/state', self.state_callback, 10)
+
+        # Nachrichten vorbereiten
+        self.messages = [msg1, msg2, msg3, msg4]
+        # self.messages = [msg1, msg2]
+        self.get_logger().info(f"Number of messages: {len(self.messages)}")
+
+        self.current_msg_index = 0  # Start mit der ersten Nachricht
+
+        self.print_error = True  # Flag für Fehlerausgabe --> only print once
+        self.was_executing = False  # Flag für Ausführung --> nur einmal setzen
+
+        # Erste Nachricht direkt senden
+        self.send_next_message()
+
+    def send_next_message(self):
+        """ Sendet die nächste Nachricht in der Liste, falls vorhanden """
+        self.was_executing = False
+        self.get_logger().info(f"Sending message {self.current_msg_index + 1} of {len(self.messages)}")
+        if self.current_msg_index < len(self.messages):
+            msg = self.messages[self.current_msg_index]
+            self.publisher_.publish(msg)
+            self.get_logger().info(f'Sent message {self.current_msg_index + 1}: {msg}')
+            self.current_msg_index += 1
+        else:
+            self.get_logger().info("All messages sent.")
+
+    def state_callback(self, msg):
+        """ Reagiert auf den aktuellen State """
+        state = msg.data
+        if state == 1:  # Ausführung
+            if not self.was_executing:
+                self.get_logger().info("Executing motion...")
+                self.was_executing = True
+        elif state == 2 and self.was_executing:  # Erfolg
+            self.get_logger().info("Success: Motion completed!")
+            self.send_next_message()
+        elif state == 3 and self.print_error:  # Fehler
+            self.print_error = False
+            self.get_logger().error("Error: Motion failed!")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MotionPublisher()
+    rclpy.spin(node)
+
+    # Cleanup
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py b/motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py
new file mode 100755
index 000000000..3e203113c
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3 
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import UInt8
+from geometry_msgs.msg import PoseStamped
+from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
+
+class DummyPublisher(Node):
+    def __init__(self):
+        super().__init__('dummy_publisher')
+        
+        # Publisher for the MotionPrimitive message
+        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
+        
+        # Timer to call the publishing function every 1 second
+        self.timer = self.create_timer(1.0, self.timer_callback)
+
+    def timer_callback(self):
+        msg = MotionPrimitive()
+    
+        msg.type = 50
+        # msg.blend_radius = 0.051
+        
+        # Add additional arguments 
+        arg_vel = MotionArgument()
+        arg_vel.argument_name = "velocity"
+        arg_vel.argument_value = 1.03
+
+        arg_acc = MotionArgument()
+        arg_acc.argument_name = "acceleration"
+        arg_acc.argument_value = 0.57
+        # msg.additional_arguments = [arg_vel, arg_acc]
+
+        arg_time = MotionArgument()
+        arg_time.argument_name = "move_time"
+        arg_time.argument_value = 0.0
+        msg.additional_arguments = [arg_vel, arg_acc, arg_time]
+        
+        # Create a PoseStamped message (Cartesian position)
+        pose = PoseStamped()
+        pose.header.stamp = self.get_clock().now().to_msg()
+        pose.pose.position.x = -0.203
+        pose.pose.position.y = 0.263
+        pose.pose.position.z = 0.559
+        pose.pose.orientation.x = -0.2734
+        pose.pose.orientation.y = -0.4930
+        pose.pose.orientation.z = -0.6086
+        pose.pose.orientation.w = 0.5584
+        msg.poses = [pose]  # Add the pose to the message
+        # { -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 }
+        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(0.006, -0.009, -0.018, 1.0) (https://quaternions.online/)
+        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(0.5637225, -0.0006527, -0.7832093, 0.2622969) (https://www.andre-gaschler.com/rotationconverter/)
+        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(−0.2734,−0.4930,−0.6086,0.5584) (ChatGPT)
+        
+        # Set joint positions
+        # msg.joint_positions = [0.51, 0.52, 0.53, 0.54, 0.55, 0.56]
+        
+        # Publish the message
+        self.publisher_.publish(msg)
+        self.get_logger().info(f'Publishing: {msg}')
+
+def main(args=None):
+    rclpy.init(args=args)
+    dummy_publisher = DummyPublisher()
+    
+    # rclpy.spin(dummy_publisher) # Spin to keep the node active and publishing messages
+    rclpy.spin_once(dummy_publisher)  # Only spin once to call publish_message()
+
+    # Clean up at the end
+    dummy_publisher.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp b/motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp
new file mode 100644
index 000000000..e702c9434
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp
@@ -0,0 +1,639 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <limits>
+#include <vector>
+#include <memory>
+#include <thread>
+#include <atomic>
+
+#include "motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp"
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "motion_primitives_forward_controller/motion_type.hpp"
+
+namespace motion_primitives_ur_driver_pkg
+{
+
+MotionPrimitivesUrDriver::~MotionPrimitivesUrDriver()
+{
+  async_thread_shutdown_ = true;
+  if (async_command_thread_ && async_command_thread_->joinable()) {
+    async_command_thread_->join();
+    async_command_thread_.reset();
+  }
+  if (async_stop_motion_thread_ && async_stop_motion_thread_->joinable()) {
+    async_stop_motion_thread_->join();
+    async_stop_motion_thread_.reset();
+  }
+
+  ur_driver_.reset();
+}
+
+hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(
+  const hardware_interface::HardwareInfo & info)
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing Hardware Interface");
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+  {
+    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to initialize SystemInterface");
+    return CallbackReturn::ERROR;
+  }
+
+  info_ = info;
+
+  // Initialize the state helper
+  state_helper_.initialize();
+
+  // initialize
+  initialized_ = false;
+  async_thread_shutdown_ = false;
+  new_command_available_ = false;
+  rtde_comm_has_been_started_ = false;
+
+  // Resize hardware state and command vectors, initializing them with NaN values.
+  // TODO (mathias31415): is there a better way than hardcoding the size of the vectors? --> read the number of state and command interfaces somehow?
+  hw_mo_prim_states_.resize(1, std::numeric_limits<double>::quiet_NaN());     // 1 status
+  hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());  // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
+
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Configuring Hardware Interface");
+
+  // The robot's IP address.
+  const std::string robot_ip = info_.hardware_parameters["robot_ip"];
+  
+  // Path to the urscript code that will be sent to the robot
+  const std::string script_filename = info_.hardware_parameters["script_filename"];
+  
+  // Path to the file containing the recipe used for requesting RTDE outputs.
+  const std::string output_recipe_filename = info_.hardware_parameters["output_recipe_filename"];
+  
+  // Path to the file containing the recipe used for requesting RTDE inputs.
+  const std::string input_recipe_filename = info_.hardware_parameters["input_recipe_filename"];
+  
+  // Start robot in headless mode. This does not require the 'External Control' URCap to be running
+  // on the robot, but this will send the URScript to the robot directly. On e-Series robots this
+  // requires the robot to run in 'remote-control' mode.
+  const bool headless_mode = (info_.hardware_parameters["headless_mode"] == "true") || (info_.hardware_parameters["headless_mode"] == "True");
+  
+  // Port that will be opened to communicate between the driver and the robot controller.
+  const int reverse_port = stoi(info_.hardware_parameters["reverse_port"]);
+
+  // The driver will offer an interface to receive the program's URScript on this port.
+  const int script_sender_port = stoi(info_.hardware_parameters["script_sender_port"]);
+
+  // The ip address of the host the driver runs on
+  std::string reverse_ip = info_.hardware_parameters["reverse_ip"];
+  if (reverse_ip == "0.0.0.0") {
+    reverse_ip = "";
+  }
+
+  // Port (on the host pc) of the trajectory interface
+  const int trajectory_port = stoi(info_.hardware_parameters["trajectory_port"]);
+
+  // Port (on the host PC) that will be used to forward script commands from the driver to the robot
+  const int script_command_port = stoi(info_.hardware_parameters["script_command_port"]);
+
+  // Enables non_blocking_read mode. Should only be used with combined_robot_hw. Disables error generated when read
+  // returns without any data, sets the read timeout to zero, and synchronises read/write operations. Enabling this when
+  // not used with combined_robot_hw can suppress important errors and affect real-time performance.
+  non_blocking_read_ = (info_.hardware_parameters["non_blocking_read"] == "true") ||
+                       (info_.hardware_parameters["non_blocking_read"] == "True");
+
+  // Specify gain for servoing to position in joint space.
+  // A higher gain can sharpen the trajectory.
+  const int servoj_gain = stoi(info_.hardware_parameters["servoj_gain"]);
+  // Specify lookahead time for servoing to position in joint space.
+  // A longer lookahead time can smooth the trajectory.
+  const double servoj_lookahead_time = stod(info_.hardware_parameters["servoj_lookahead_time"]);
+
+  // Hash of the calibration reported by the robot. This is used for validating the robot
+  // description is using the correct calibration. If the robot's calibration doesn't match this
+  // hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the
+  // endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your
+  // own hash matching your actual robot.
+  const std::string calibration_checksum = info_.hardware_parameters["kinematics/hash"];
+
+  // Obtain the tf_prefix which is needed for the logging handler so that log messages from different arms are
+  // distiguishable in the log
+  const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing driver...");
+  try {
+    rtde_comm_has_been_started_ = false;
+    urcl::UrDriverConfiguration driver_config;
+    driver_config.robot_ip = robot_ip;
+    driver_config.script_file = script_filename;
+    driver_config.output_recipe_file = output_recipe_filename;
+    driver_config.input_recipe_file = input_recipe_filename;
+    driver_config.headless_mode = headless_mode;
+    driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
+    driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
+    driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
+    driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
+    driver_config.reverse_ip = reverse_ip;
+    driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
+    driver_config.servoj_lookahead_time = servoj_lookahead_time;
+    driver_config.non_blocking_read = non_blocking_read_;
+    driver_config.tool_comm_setup = nullptr;
+    driver_config.handle_program_state =
+        std::bind(&MotionPrimitivesUrDriver::handleRobotProgramState, this, std::placeholders::_1);
+    ur_driver_ = std::make_shared<urcl::UrDriver>(driver_config);
+  } catch (urcl::ToolCommNotAvailable& e) {
+    RCLCPP_FATAL_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), "See parameter use_tool_communication");
+
+    return hardware_interface::CallbackReturn::ERROR;
+  } catch (urcl::UrException& e) {
+    RCLCPP_FATAL_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), e.what());
+    return hardware_interface::CallbackReturn::ERROR;
+  }
+  // Timeout before the reverse interface will be dropped by the robot
+  receive_timeout_ = urcl::RobotReceiveTimeout::sec(std::stof(info_.hardware_parameters["robot_receive_timeout"]));
+
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Calibration checksum: '%s'.",
+              calibration_checksum.c_str());
+  // check calibration
+  // https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/c3378599d5fa73a261328b326392e847f312ab6b/ur_robot_driver/src/hardware_interface.cpp#L296-L309
+  if (ur_driver_->checkCalibration(calibration_checksum)) {
+    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Calibration checked successfully.");
+  } else {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+
+                        "The calibration parameters of the connected robot don't match the ones from the given "
+                        "kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp "
+                        "positions. Use the ur_calibration tool to extract the correct calibration from the robot and "
+                        "pass that into the description. See "
+                        "[https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/"
+                        "README.md] for details.");
+  }
+
+  // ur_driver_->resetRTDEClient(output_recipe_filename, input_recipe_filename, 125.0, false);  // set rtde frequency to 125 Hz
+
+  // Export version information to state interfaces
+  urcl::VersionInformation version_info = ur_driver_->getVersion();
+  state_helper_.setRobotSoftwareVersion(version_info);
+
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing InstructionExecutor");
+  instruction_executor_ = std::make_shared<urcl::InstructionExecutor>(ur_driver_);
+
+  // Start async thread for sending commands
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Starting async thread");
+  async_command_thread_ = std::make_unique<std::thread>(&MotionPrimitivesUrDriver::asyncCommandThread, this);
+  async_stop_motion_thread_ = std::make_unique<std::thread>(&MotionPrimitivesUrDriver::asyncStopMotionThread, this);
+
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "System successfully started!");
+  return CallbackReturn::SUCCESS;
+}
+
+std::vector<hardware_interface::StateInterface> MotionPrimitivesUrDriver::export_state_interfaces()
+{
+  std::vector<hardware_interface::StateInterface> state_interfaces;
+
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Exporting State Interfaces");
+
+  // extract joint names
+  std::vector<std::string> joint_names;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    joint_names.push_back(info_.joints[i].name);
+  }
+
+  // extract sensor names
+  std::vector<std::string> sensor_names;
+  for (size_t i = 0; i < info_.sensors.size(); ++i) {
+    sensor_names.push_back(info_.sensors[i].name);
+  }
+  // state interfaces from the URPositionHardwareInterface
+  state_interfaces = state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
+
+  // State for execution_status
+  state_interfaces.emplace_back(hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_mo_prim_states_[0]));
+
+  return state_interfaces;
+}
+
+
+std::vector<hardware_interface::CommandInterface> MotionPrimitivesUrDriver::export_command_interfaces()
+{
+  std::vector<hardware_interface::CommandInterface> command_interfaces;
+
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Exporting Command Interfaces");
+
+  // Command for motion type (motion_type)
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_mo_prim_commands_[0]));
+  // Joint position commands (q1, q2, ..., q6)
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q1", &hw_mo_prim_commands_[1]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q2", &hw_mo_prim_commands_[2]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q3", &hw_mo_prim_commands_[3]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q4", &hw_mo_prim_commands_[4]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q5", &hw_mo_prim_commands_[5]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q6", &hw_mo_prim_commands_[6]));
+  // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_mo_prim_commands_[7]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_mo_prim_commands_[8]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_mo_prim_commands_[9]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_mo_prim_commands_[10]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_mo_prim_commands_[11]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_mo_prim_commands_[12]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_mo_prim_commands_[13]));
+  // Via Position commands for circula motion
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_mo_prim_commands_[14]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_mo_prim_commands_[15]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_mo_prim_commands_[16]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_mo_prim_commands_[17]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_mo_prim_commands_[18]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_mo_prim_commands_[19]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_mo_prim_commands_[20]));
+  // Other command parameters (blend_radius, velocity, acceleration, move_time)
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_mo_prim_commands_[21]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_mo_prim_commands_[22]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_mo_prim_commands_[23]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_mo_prim_commands_[24]));
+
+  return command_interfaces;
+}
+
+
+hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_activate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Activating Hardware Interface");
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_deactivate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Deactivating Hardware Interface");
+  ur_driver_.reset();
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::return_type MotionPrimitivesUrDriver::read(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  if (!rtde_comm_has_been_started_) {
+    ur_driver_->startRTDECommunication();
+    rtde_comm_has_been_started_ = true;
+  }
+
+  std::unique_ptr<urcl::rtde_interface::DataPackage> data_pkg = ur_driver_->getDataPackage();
+
+  if (data_pkg) {
+    state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
+  }
+
+  // Update the state interface with the current execution status
+  hw_mo_prim_states_[0] = current_execution_status_;    // 0=idle, 1=executing, 2=success, 3=error
+
+  return hardware_interface::return_type::OK;
+}
+
+
+hardware_interface::return_type MotionPrimitivesUrDriver::write(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  // Check if we have a new command
+  if (!std::isnan(hw_mo_prim_commands_[0])) {
+    if (hw_mo_prim_commands_[0] == MotionType::STOP_MOTION) {
+      // Stop command received
+      std::lock_guard<std::mutex> guard(stop_mutex_);
+      if (!new_stop_available_) {
+        new_stop_available_ = true;
+        // Reset command interfaces
+        std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
+      }
+    } else {
+      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Command of type: %f recived", hw_mo_prim_commands_[0]);
+      std::lock_guard<std::mutex> guard(command_mutex_);
+      if (!new_command_available_) {
+        // Copy command to thread-safe buffer
+        pending_command_ = hw_mo_prim_commands_;
+        new_command_available_ = true;
+        // Reset command interfaces
+        std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
+      }
+    }
+  }
+
+  // Send keepalive if current_execution_status_ in not EXECUTING
+  if (ur_driver_ && current_execution_status_ != ExecutionState::EXECUTING) {
+    ur_driver_->writeKeepalive();
+  }
+
+
+  return hardware_interface::return_type::OK;
+}
+
+void MotionPrimitivesUrDriver::asyncStopMotionThread()
+{
+  while (!async_thread_shutdown_) {
+    if (new_stop_available_) {
+      {
+        std::lock_guard<std::mutex> guard(stop_mutex_);
+        new_stop_available_ = false;
+      }
+      // Stop the motion
+      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] New stop command available");
+      processStopCommand();
+    }
+
+    // Small sleep to prevent busy waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] Exiting");
+}
+
+void MotionPrimitivesUrDriver::processStopCommand()
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received STOP command");
+  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Trajectory running: %d", instruction_executor_->isTrajectoryRunning());
+  if (instruction_executor_->isTrajectoryRunning()) {
+    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Stopping motion ...");
+    if(!instruction_executor_->cancelMotion()) {
+      RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to stop motion");
+      current_execution_status_ = ExecutionState::ERROR;
+    } else {
+      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Motion stopped successfully");
+      current_execution_status_ = ExecutionState::IDLE;
+    }
+  }
+  else {
+    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "No motion to stop");
+    current_execution_status_ = ExecutionState::IDLE;
+  }
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processStopCommand] After executing stop: current_execution_status_ = %d", current_execution_status_.load());
+}
+
+void MotionPrimitivesUrDriver::asyncCommandThread()
+{
+  while (!async_thread_shutdown_) {
+    // Check for new commands
+    if (new_command_available_) {
+      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncCommandThread] New command available");
+      std::vector<double> current_command;
+      {
+        std::lock_guard<std::mutex> guard(command_mutex_);
+        current_command = pending_command_;
+        new_command_available_ = false;
+      }
+
+      // Process the command
+      processMotionCommand(current_command);
+    }
+
+    // Small sleep to prevent busy waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncCommandThread] Exiting");
+}
+
+void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& command)
+{
+  if (command.empty() || std::isnan(command[0])) {
+    return;
+  }
+  current_execution_status_ = ExecutionState::EXECUTING;
+
+  double motion_type = command[0];
+  
+  double velocity, acceleration, move_time; 
+
+  // TODO (mathias31415): check if nan needs to be handeled
+  double blend_radius = command[21];
+
+  try {
+    switch (static_cast<uint8_t>(motion_type)) {
+      case MotionType::LINEAR_JOINT: { // moveJ
+        // Check if joint positions are valid
+        for (int i = 1; i <= 6; ++i) {
+            if (std::isnan(command[i])) {
+                RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: joint positions contain NaN values");
+                current_execution_status_ = ExecutionState::ERROR;
+                return;
+            }
+        }
+        urcl::vector6d_t joint_positions = {command[1], command[2], command[3], command[4], command[5], command[6]};
+        
+        // Get move_time OR (velocity AND acceleration)
+        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          current_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
+                joint_positions[0], joint_positions[1], joint_positions[2],
+                joint_positions[3], joint_positions[4], joint_positions[5]
+                , velocity, acceleration, move_time, blend_radius);
+
+        bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
+        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveJ: current_execution_status_ = %d", current_execution_status_.load());
+        break;
+      }
+
+      case MotionType::LINEAR_CARTESIAN: { // moveL
+        // Check if pose values (position and quaternion) are valid
+        for (int i = 7; i <= 13; ++i) {
+            if (std::isnan(command[i])) {
+                RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN values");
+                current_execution_status_ = ExecutionState::ERROR;
+                return;
+            }
+        }
+        double rx, ry, rz;
+        quaternionToEuler(command[10], command[11], command[12], command[13], rx, ry, rz);
+        urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz};
+
+        // Get move_time OR (velocity AND acceleration)
+        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          current_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
+                pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz,
+                velocity, acceleration, move_time, blend_radius);
+
+        bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
+        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveL: current_execution_status_ = %d", current_execution_status_.load());
+        break;
+      }
+
+      case MotionType::CIRCULAR_CARTESIAN: { //CIRC
+        // Check if pose values (position and quaternion) are valid
+        for (int i = 7; i <= 20; ++i) {
+          if (std::isnan(command[i])) {
+              RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN values");
+              current_execution_status_ = ExecutionState::ERROR;
+              return;
+          }
+        }
+
+        int32_t mode = 0; // 0: Unconstrained mode, 1: Fixed mode (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf )
+
+        // Get velocity and acceleration)
+        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          current_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        double via_rx, via_ry, via_rz;
+        quaternionToEuler(command[17], command[18], command[19], command[20], via_rx, via_ry, via_rz);
+        urcl::Pose via_pose = { command[14], command[15], command[16], via_rx, via_ry, via_rz };
+
+        double goal_rx, goal_ry, goal_rz;
+        quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
+        urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
+
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+          "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
+          via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
+          goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
+          velocity, acceleration, blend_radius, mode);
+
+        bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
+        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());
+        break;
+      }
+
+      case 33: { 
+        // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Sending hardcoded motion sequence");
+        std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence{
+          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1, std::chrono::seconds(0), 1.0, 1.0),
+          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }, 0.1, std::chrono::seconds(2)),
+          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose(-0.203, 0.263, 0.559, 0.68, -1.083, -2.076), 0.1, std::chrono::seconds(0), 0.5, 2.0),
+          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1, std::chrono::seconds(2)),
+          std::make_shared<urcl::control::MoveCPrimitive>(
+            urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
+            urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
+            0.05,  // acceleration
+            0.2,  // velocity
+            0.0, // blend_radius
+            0),    // mode
+          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1, std::chrono::seconds(0), 1.0, 1.0),
+          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }, 0.1, std::chrono::seconds(2)),
+          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose(-0.203, 0.263, 0.559, 0.68, -1.083, -2.076), 0.1, std::chrono::seconds(0), 0.5, 2.0),
+          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1, std::chrono::seconds(2)),
+          std::make_shared<urcl::control::MoveCPrimitive>(
+            urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
+            urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
+            0.05,  // acceleration
+            0.2,  // velocity
+            0.0, // blend_radius
+            0)  
+        };
+        bool success = instruction_executor_->executeMotion(motion_sequence);
+        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
+        break;
+      }
+      
+      default: {
+        RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: motion type %f is not supported", motion_type);
+        current_execution_status_ = ExecutionState::ERROR;
+        return;
+      }
+    }
+
+  } catch (const std::exception& e) {
+      RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to execute motion command: %s", e.what());
+      current_execution_status_ = ExecutionState::ERROR;
+  }
+}
+
+void MotionPrimitivesUrDriver::handleRobotProgramState(bool program_running)
+{
+  robot_program_running_ = program_running;
+}
+
+// TODO (mathias31415): check if this is correct with known values (XYZ-Order?)
+// Convert quaternion to Euler angles (roll, pitch, yaw) 
+// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz) {
+  // roll (x-axis rotation)
+  double sinr_cosp = 2 * (qw * qx + qy * qz);
+  double cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
+  rx = std::atan2(sinr_cosp, cosr_cosp);
+
+  // pitch (y-axis rotation)
+  double sinp = std::sqrt(1 + 2 * (qw * qy - qx * qz));
+  double cosp = std::sqrt(1 - 2 * (qw * qy - qx * qz));
+  ry = 2 * std::atan2(sinp, cosp) - M_PI / 2;
+
+  // yaw (z-axis rotation)
+  double siny_cosp = 2 * (qw * qz + qx * qy);
+  double cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
+  rz = std::atan2(siny_cosp, cosy_cosp);
+
+  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",qx, qy, qz, qw, rx, ry, rz);
+}
+
+bool MotionPrimitivesUrDriver::getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time) {
+  // Check if move_time is valid
+  if (!std::isnan(command[24]) && command[24] > 0.0) {
+    move_time = command[24];
+    velocity = 1.0;        // If move_time is valid, velocity and acceleration are ignored in moveJ and moveL, but must be > 0.0
+    acceleration = 1.0;   
+    return true;
+  }
+  // If no valid move_time, check if velocity and acceleration are valid
+  else if (!std::isnan(command[22]) && command[22] > 0.0 &&
+           !std::isnan(command[23]) && command[23] > 0.0) {
+    velocity = command[22];
+    acceleration = command[23];
+    move_time = 0.0;
+    return true;
+  }
+  // Invalid values
+  else {
+    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "move_time, velocity and acceleration are all invalid");
+    return false;
+  }
+}
+
+bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time) {
+  // Check if velocity and acceleration are valid
+  if (!std::isnan(command[22]) && command[22] > 0.0 &&
+           !std::isnan(command[23]) && command[23] > 0.0) {
+    velocity = command[22];
+    acceleration = command[23];
+    move_time = 0.0;
+    return true;
+  }
+  // Invalid values
+  else {
+    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "velocity or acceleration is invalid");
+    return false;
+  }
+}
+
+}  // namespace motion_primitives_ur_driver_pkg
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  motion_primitives_ur_driver_pkg::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file
diff --git a/motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp b/motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp
new file mode 100644
index 000000000..816a28598
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp
@@ -0,0 +1,57 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// #include <gmock/gmock.h>
+
+// #include <string>
+
+// #include "hardware_interface/resource_manager.hpp"
+// #include "ros2_control_test_assets/components_urdfs.hpp"
+// #include "ros2_control_test_assets/descriptions.hpp"
+
+// class TestMotionPrimitivesUrDriver : public ::testing::Test
+// {
+// protected:
+//   void SetUp() override
+//   {
+//     // TODO(anyone): Extend this description to your robot
+//     motion_primitives_ur_driver_2dof_ =
+//       R"(
+//         <ros2_control name="MotionPrimitivesUrDriver2dof" type="system">
+//           <hardware>
+//             <plugin>motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver</plugin>
+//           </hardware>
+//           <joint name="joint1">
+//             <command_interface name="position"/>
+//             <state_interface name="position"/>
+//             <param name="initial_position">1.57</param>
+//           </joint>
+//           <joint name="joint2">
+//             <command_interface name="position"/>
+//             <state_interface name="position"/>
+//             <param name="initial_position">0.7854</param>
+//           </joint>
+//         </ros2_control>
+//     )";
+//   }
+
+//   std::string motion_primitives_ur_driver_2dof_;
+// };
+
+// TEST_F(TestMotionPrimitivesUrDriver, load_motion_primitives_ur_driver_2dof)
+// {
+//   auto urdf = ros2_control_test_assets::urdf_head + motion_primitives_ur_driver_2dof_ +
+//               ros2_control_test_assets::urdf_tail;
+//   ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
+// }
diff --git a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro b/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro
new file mode 100644
index 000000000..65ab8b90a
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro
@@ -0,0 +1,335 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> -->
+  <xacro:include filename="$(find motion_primitives_ur_driver_pkg)/urdf/ur_joint_control.xacro" />
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
+
+  <xacro:macro name="motion_primitive_ur_ros2_control" params="
+    name
+    tf_prefix
+    kinematics_parameters_file
+    robot_ip
+    script_filename
+    input_recipe_filename
+    output_recipe_filename
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    use_mock_hardware:=false mock_sensor_commands:=false
+    headless_mode:=false
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    use_tool_communication:=false
+    tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
+    tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
+    reverse_port:=50001
+    script_sender_port:=50002
+    reverse_ip:=0.0.0.0
+    script_command_port:=50004
+    trajectory_port:=50003
+    non_blocking_read:=true
+    robot_receive_timeout:=0.04
+    ">
+
+    <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
+    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
+    <xacro:property name="kinematics_hash" value="${sec_kinematics['hash']}" scope="parent"/>
+
+    <!-- Add URDF transmission elements (for ros_control) -->
+    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+    <!-- Placeholder for ros2_control transmission which don't yet exist -->
+
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <xacro:if value="${use_mock_hardware}">
+          <plugin>mock_components/GenericSystem</plugin>
+          <param name="mock_sensor_commands">${mock_sensor_commands}</param>
+          <param name="state_following_offset">0.0</param>
+          <param name="calculate_dynamics">true</param>
+        </xacro:if>
+        <xacro:unless value="${use_mock_hardware}">
+          <plugin>motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver</plugin>
+          <param name="robot_ip">${robot_ip}</param>
+          <param name="script_filename">${script_filename}</param>
+          <param name="output_recipe_filename">${output_recipe_filename}</param>
+          <param name="input_recipe_filename">${input_recipe_filename}</param>
+          <param name="headless_mode">${headless_mode}</param>
+          <param name="reverse_port">${reverse_port}</param>
+          <param name="script_sender_port">${script_sender_port}</param>
+          <param name="reverse_ip">${reverse_ip}</param>
+          <param name="script_command_port">${script_command_port}</param>
+          <param name="trajectory_port">${trajectory_port}</param>
+          <param name="tf_prefix">${tf_prefix}</param>
+          <param name="non_blocking_read">${non_blocking_read}</param>
+          <param name="servoj_gain">2000</param>
+          <param name="servoj_lookahead_time">0.03</param>
+          <param name="use_tool_communication">${use_tool_communication}</param>
+          <param name="kinematics/hash">${kinematics_hash}</param>
+          <param name="tool_voltage">${tool_voltage}</param>
+          <param name="tool_parity">${tool_parity}</param>
+          <param name="tool_baud_rate">${tool_baud_rate}</param>
+          <param name="tool_stop_bits">${tool_stop_bits}</param>
+          <param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
+          <param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
+          <param name="tool_device_name">${tool_device_name}</param>
+          <param name="tool_tcp_port">${tool_tcp_port}</param>
+          <param name="robot_receive_timeout">${robot_receive_timeout}</param>
+        </xacro:unless>
+      </hardware>
+
+      <xacro:ur_joint_control_description
+        tf_prefix="${tf_prefix}"
+        initial_positions="${initial_positions}"
+      />
+
+      <xacro:ur_sensors
+        tf_prefix="${tf_prefix}"
+      />
+
+      <!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
+      <gpio name="${tf_prefix}speed_scaling">
+        <state_interface name="speed_scaling_factor">
+          <param name="initial_value">1.0</param>
+        </state_interface>
+        <!-- <command_interface name="target_speed_fraction_cmd"/>
+        <command_interface name="target_speed_fraction_async_success"/> -->
+      </gpio>
+
+      <gpio name="${tf_prefix}gpio">
+        <!-- <command_interface name="standard_digital_output_cmd_0"/>
+        <command_interface name="standard_digital_output_cmd_1"/>
+        <command_interface name="standard_digital_output_cmd_2"/>
+        <command_interface name="standard_digital_output_cmd_3"/>
+        <command_interface name="standard_digital_output_cmd_4"/>
+        <command_interface name="standard_digital_output_cmd_5"/>
+        <command_interface name="standard_digital_output_cmd_6"/>
+        <command_interface name="standard_digital_output_cmd_7"/>
+        <command_interface name="standard_digital_output_cmd_8"/>
+        <command_interface name="standard_digital_output_cmd_9"/>
+        <command_interface name="standard_digital_output_cmd_10"/>
+        <command_interface name="standard_digital_output_cmd_11"/>
+        <command_interface name="standard_digital_output_cmd_12"/>
+        <command_interface name="standard_digital_output_cmd_13"/>
+        <command_interface name="standard_digital_output_cmd_14"/>
+        <command_interface name="standard_digital_output_cmd_15"/>
+        <command_interface name="standard_digital_output_cmd_16"/>
+        <command_interface name="standard_digital_output_cmd_17"/>
+
+        <command_interface name="standard_analog_output_cmd_0"/>
+        <command_interface name="standard_analog_output_cmd_1"/>
+        <command_interface name="analog_output_domain_cmd"/>
+
+        <command_interface name="tool_voltage_cmd"/>
+
+        <command_interface name="io_async_success"/> -->
+
+        <state_interface name="digital_output_0"/>
+        <state_interface name="digital_output_1"/>
+        <state_interface name="digital_output_2"/>
+        <state_interface name="digital_output_3"/>
+        <state_interface name="digital_output_4"/>
+        <state_interface name="digital_output_5"/>
+        <state_interface name="digital_output_6"/>
+        <state_interface name="digital_output_7"/>
+        <state_interface name="digital_output_8"/>
+        <state_interface name="digital_output_9"/>
+        <state_interface name="digital_output_10"/>
+        <state_interface name="digital_output_11"/>
+        <state_interface name="digital_output_12"/>
+        <state_interface name="digital_output_13"/>
+        <state_interface name="digital_output_14"/>
+        <state_interface name="digital_output_15"/>
+        <state_interface name="digital_output_16"/>
+        <state_interface name="digital_output_17"/>
+
+        <state_interface name="digital_input_0"/>
+        <state_interface name="digital_input_1"/>
+        <state_interface name="digital_input_2"/>
+        <state_interface name="digital_input_3"/>
+        <state_interface name="digital_input_4"/>
+        <state_interface name="digital_input_5"/>
+        <state_interface name="digital_input_6"/>
+        <state_interface name="digital_input_7"/>
+        <state_interface name="digital_input_8"/>
+        <state_interface name="digital_input_9"/>
+        <state_interface name="digital_input_10"/>
+        <state_interface name="digital_input_11"/>
+        <state_interface name="digital_input_12"/>
+        <state_interface name="digital_input_13"/>
+        <state_interface name="digital_input_14"/>
+        <state_interface name="digital_input_15"/>
+        <state_interface name="digital_input_16"/>
+        <state_interface name="digital_input_17"/>
+
+        <state_interface name="standard_analog_output_0"/>
+        <state_interface name="standard_analog_output_1"/>
+
+        <state_interface name="standard_analog_input_0"/>
+        <state_interface name="standard_analog_input_1"/>
+
+        <state_interface name="analog_io_type_0"/>
+        <state_interface name="analog_io_type_1"/>
+        <state_interface name="analog_io_type_2"/>
+        <state_interface name="analog_io_type_3"/>
+
+        <state_interface name="tool_mode"/>
+        <state_interface name="tool_output_voltage"/>
+        <state_interface name="tool_output_current"/>
+        <state_interface name="tool_temperature"/>
+
+        <state_interface name="tool_analog_input_0"/>
+        <state_interface name="tool_analog_input_1"/>
+
+        <state_interface name="tool_analog_input_type_0"/>
+        <state_interface name="tool_analog_input_type_1"/>
+
+        <state_interface name="robot_mode"/>
+        <state_interface name="robot_status_bit_0"/>
+        <state_interface name="robot_status_bit_1"/>
+        <state_interface name="robot_status_bit_2"/>
+        <state_interface name="robot_status_bit_3"/>
+
+        <state_interface name="safety_mode"/>
+        <state_interface name="safety_status_bit_0"/>
+        <state_interface name="safety_status_bit_1"/>
+        <state_interface name="safety_status_bit_2"/>
+        <state_interface name="safety_status_bit_3"/>
+        <state_interface name="safety_status_bit_4"/>
+        <state_interface name="safety_status_bit_5"/>
+        <state_interface name="safety_status_bit_6"/>
+        <state_interface name="safety_status_bit_7"/>
+        <state_interface name="safety_status_bit_8"/>
+        <state_interface name="safety_status_bit_9"/>
+        <state_interface name="safety_status_bit_10"/>
+
+        <state_interface name="program_running"/>
+      </gpio>
+
+      <!-- <gpio name="${tf_prefix}payload">
+        <command_interface name="mass"/>
+        <command_interface name="cog.x"/>
+        <command_interface name="cog.y"/>
+        <command_interface name="cog.z"/>
+        <command_interface name="payload_async_success"/>
+      </gpio> -->
+
+      <!-- <gpio name="${tf_prefix}resend_robot_program">
+        <command_interface name="resend_robot_program_cmd"/>
+        <command_interface name="resend_robot_program_async_success"/>
+      </gpio>
+
+      <gpio name="${tf_prefix}hand_back_control">
+        <command_interface name="hand_back_control_cmd"/>
+        <command_interface name="hand_back_control_async_success"/>
+      </gpio>
+
+      <gpio name="${tf_prefix}zero_ftsensor">
+        <command_interface name="zero_ftsensor_cmd"/>
+        <command_interface name="zero_ftsensor_async_success"/>
+      </gpio>
+
+      <gpio name="${tf_prefix}freedrive_mode">
+        <command_interface name="async_success"/>
+        <command_interface name="enable"/>
+        <command_interface name="abort"/>
+      </gpio> -->
+
+      <gpio name="${tf_prefix}system_interface">
+        <state_interface name="initialized"/>
+      </gpio>
+
+      <!-- <gpio name="${tf_prefix}force_mode">
+        <command_interface name="task_frame_x"/>
+        <command_interface name="task_frame_y"/>
+        <command_interface name="task_frame_z"/>
+        <command_interface name="task_frame_rx"/>
+        <command_interface name="task_frame_ry"/>
+        <command_interface name="task_frame_rz"/>
+        <command_interface name="selection_vector_x"/>
+        <command_interface name="selection_vector_y"/>
+        <command_interface name="selection_vector_z"/>
+        <command_interface name="selection_vector_rx"/>
+        <command_interface name="selection_vector_ry"/>
+        <command_interface name="selection_vector_rz"/>
+        <command_interface name="wrench_x"/>
+        <command_interface name="wrench_y"/>
+        <command_interface name="wrench_z"/>
+        <command_interface name="wrench_rx"/>
+        <command_interface name="wrench_ry"/>
+        <command_interface name="wrench_rz"/>
+        <command_interface name="limits_x"/>
+        <command_interface name="limits_y"/>
+        <command_interface name="limits_z"/>
+        <command_interface name="limits_rx"/>
+        <command_interface name="limits_ry"/>
+        <command_interface name="limits_rz"/>
+        <command_interface name="type"/>
+        <command_interface name="damping"/>
+        <command_interface name="gain_scaling"/>
+        <command_interface name="disable_cmd"/>
+        <command_interface name="force_mode_async_success"/>
+      </gpio>
+
+      <gpio name="${tf_prefix}trajectory_passthrough">
+        <command_interface name="setpoint_positions_0"/>
+        <command_interface name="setpoint_positions_1"/>
+        <command_interface name="setpoint_positions_2"/>
+        <command_interface name="setpoint_positions_3"/>
+        <command_interface name="setpoint_positions_4"/>
+        <command_interface name="setpoint_positions_5"/>
+        <command_interface name="setpoint_velocities_0"/>
+        <command_interface name="setpoint_velocities_1"/>
+        <command_interface name="setpoint_velocities_2"/>
+        <command_interface name="setpoint_velocities_3"/>
+        <command_interface name="setpoint_velocities_4"/>
+        <command_interface name="setpoint_velocities_5"/>
+        <command_interface name="setpoint_accelerations_0"/>
+        <command_interface name="setpoint_accelerations_1"/>
+        <command_interface name="setpoint_accelerations_2"/>
+        <command_interface name="setpoint_accelerations_3"/>
+        <command_interface name="setpoint_accelerations_4"/>
+        <command_interface name="setpoint_accelerations_5"/>
+        <command_interface name="transfer_state"/>
+        <command_interface name="time_from_start"/>
+        <command_interface name="abort"/>
+      </gpio> -->
+
+
+      <gpio name="${tf_prefix}get_robot_software_version">
+        <state_interface name="get_version_major"/>
+        <state_interface name="get_version_minor"/>
+        <state_interface name="get_version_build"/>
+        <state_interface name="get_version_bugfix"/>
+      </gpio>
+
+      <gpio name="motion_primitive">
+        <command_interface name="motion_type"/>
+        <command_interface name="q1"/>
+        <command_interface name="q2"/>
+        <command_interface name="q3"/>
+        <command_interface name="q4"/>
+        <command_interface name="q5"/>
+        <command_interface name="q6"/>
+        <command_interface name="pos_x"/>
+        <command_interface name="pos_y"/>
+        <command_interface name="pos_z"/>
+        <command_interface name="pos_qx"/>
+        <command_interface name="pos_qy"/>
+        <command_interface name="pos_qz"/>
+        <command_interface name="pos_qw"/>
+        <command_interface name="pos_via_x"/>
+        <command_interface name="pos_via_y"/>
+        <command_interface name="pos_via_z"/>
+        <command_interface name="pos_via_qx"/>
+        <command_interface name="pos_via_qy"/>
+        <command_interface name="pos_via_qz"/>
+        <command_interface name="pos_via_qw"/>
+        <command_interface name="blend_radius"/>
+        <command_interface name="velocity"/>
+        <command_interface name="acceleration"/>
+        <command_interface name="move_time"/>
+        
+        <state_interface name="execution_status"/>
+      </gpio>
+
+    </ros2_control>
+  </xacro:macro>
+</robot>
diff --git a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro b/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro
new file mode 100644
index 000000000..72651fe07
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro
@@ -0,0 +1,112 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- robot name parameter -->
+  <xacro:arg name="name" default="ur"/>
+
+  <!-- <xacro:arg name="motion_primitive_name" default="motion_primitive_control_ur"/> -->
+
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+  <!-- ros2 control include -->
+  <!-- <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" /> -->
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
+  <xacro:include filename="$(find motion_primitives_ur_driver_pkg)/urdf/motion_primitive_ur.ros2_control.xacro"/>
+
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- the default value should raise an error in case this was called without defining the type -->
+  <xacro:arg name="ur_type" default="urXe"/>
+
+  <!-- parameters -->
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+  <xacro:arg name="transmission_hw_interface" default=""/>
+  <xacro:arg name="safety_limits" default="false"/>
+  <xacro:arg name="safety_pos_margin" default="0.15"/>
+  <xacro:arg name="safety_k_position" default="20"/>
+  <!-- ros2_control related parameters -->
+  <xacro:arg name="headless_mode" default="false" />
+  <xacro:arg name="robot_ip" default="0.0.0.0" />
+  <xacro:arg name="script_filename" default=""/>
+  <xacro:arg name="output_recipe_filename" default=""/>
+  <xacro:arg name="input_recipe_filename" default=""/>
+  <xacro:arg name="reverse_ip" default="0.0.0.0"/>
+  <xacro:arg name="script_command_port" default="50004"/>
+  <xacro:arg name="reverse_port" default="50001"/>
+  <xacro:arg name="script_sender_port" default="50002"/>
+  <xacro:arg name="trajectory_port" default="50003"/>
+  <!--   tool communication related parameters-->
+  <xacro:arg name="use_tool_communication" default="false" />
+  <xacro:arg name="tool_voltage" default="0" />
+  <xacro:arg name="tool_parity" default="0" />
+  <xacro:arg name="tool_baud_rate" default="115200" />
+  <xacro:arg name="tool_stop_bits" default="1" />
+  <xacro:arg name="tool_rx_idle_chars" default="1.5" />
+  <xacro:arg name="tool_tx_idle_chars" default="3.5" />
+  <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
+  <xacro:arg name="tool_tcp_port" default="54321" />
+
+    <!-- Simulation parameters -->
+  <xacro:arg name="use_mock_hardware" default="false" />
+  <xacro:arg name="mock_sensor_commands" default="false" />
+  <xacro:arg name="simulation_controllers" default="" />
+
+  <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
+  <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
+
+  <!-- convert to property to use substitution in function -->
+  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
+
+  <!-- create link fixed to the "world" -->
+  <link name="world" />
+
+  <xacro:ur_robot
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    parent="world"
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    safety_limits="$(arg safety_limits)"
+    safety_pos_margin="$(arg safety_pos_margin)"
+    safety_k_position="$(arg safety_k_position)"
+    >
+     <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
+  </xacro:ur_robot>
+
+  <!-- ros2 control instance -->
+  <xacro:motion_primitive_ur_ros2_control
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
+    use_mock_hardware="$(arg use_mock_hardware)"
+    mock_sensor_commands="$(arg mock_sensor_commands)"
+    headless_mode="$(arg headless_mode)"
+    initial_positions="${xacro.load_yaml(initial_positions_file)}"
+    use_tool_communication="$(arg use_tool_communication)"
+    tool_voltage="$(arg tool_voltage)"
+    tool_parity="$(arg tool_parity)"
+    tool_baud_rate="$(arg tool_baud_rate)"
+    tool_stop_bits="$(arg tool_stop_bits)"
+    tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
+    tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
+    tool_device_name="$(arg tool_device_name)"
+    tool_tcp_port="$(arg tool_tcp_port)"
+    robot_ip="$(arg robot_ip)"
+    script_filename="$(arg script_filename)"
+    output_recipe_filename="$(arg output_recipe_filename)"
+    input_recipe_filename="$(arg input_recipe_filename)"
+    reverse_ip="$(arg reverse_ip)"
+    script_command_port="$(arg script_command_port)"
+    reverse_port="$(arg reverse_port)"
+    script_sender_port="$(arg script_sender_port)"
+    trajectory_port="$(arg trajectory_port)"
+  />
+
+  <!-- Include motion primitive control -->
+  <!-- <xacro:motion_primitive_ur_ros2_control name="$(arg motion_primitive_name)"/> -->
+
+</robot>
diff --git a/motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro b/motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro
new file mode 100644
index 000000000..b2c4c5c14
--- /dev/null
+++ b/motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro
@@ -0,0 +1,93 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="ur_joint_control_description" params="
+    tf_prefix
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    ">
+    <joint name="${tf_prefix}shoulder_pan_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}shoulder_lift_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}elbow_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['elbow_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_1_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_2_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+    <joint name="${tf_prefix}wrist_3_joint">
+      <!-- <command_interface name="position"/> -->
+      <!-- <command_interface name="velocity"/> -->
+      <state_interface name="position">
+        <!-- initial position for the mock system and simulation -->
+        <param name="initial_value">${initial_positions['wrist_3_joint']}</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+      <state_interface name="effort">
+        <param name="initial_value">0.0</param>
+      </state_interface>
+    </joint>
+  </xacro:macro>
+</robot>

From aa8ed59ec65b892842fb8f0871ff40ccea307dce Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 08:34:52 +0200
Subject: [PATCH 19/99] renamed motion_primitives_ur_driver_pkg to
 ur_robot_motion_primitives_driver

---
 .../motion_primitives_ur_driver_pkg.xml          |  9 ---------
 .../CMakeLists.txt                               | 16 ++++++++--------
 .../LICENSE                                      |  0
 .../README.md                                    | 10 +++++-----
 .../config/ur_controllers.yaml                   |  0
 .../motion_primitives_ur_driver.hpp              | 12 ++++++------
 .../visibility_control.h                         |  6 +++---
 .../motion_primitive_controller_ur.launch.py     |  4 ++--
 .../launch/ur_rsp.launch.py                      |  2 +-
 .../package.xml                                  |  2 +-
 .../send_multiple_dummy_motion_primitives.py     |  0
 ...my_motion_primitives_after_checking_status.py |  0
 .../send_single_dummy_motion_primitive.py        |  0
 .../src/motion_primitives_ur_driver.cpp          |  8 ++++----
 .../test/test_motion_primitives_ur_driver.cpp    |  2 +-
 ..._robot_motion_primitives_driver.rolling.repos |  0
 ...tion_primitives_driver.rolling.upstream.repos |  0
 .../ur_robot_motion_primitives_driver.xml        |  9 +++++++++
 .../__init__.py                                  |  0
 .../urdf/motion_primitive_ur.ros2_control.xacro  |  4 ++--
 .../urdf/motion_primitive_ur.urdf.xacro          |  2 +-
 .../urdf/ur_joint_control.xacro                  |  0
 22 files changed, 43 insertions(+), 43 deletions(-)
 delete mode 100644 motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/CMakeLists.txt (87%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/LICENSE (100%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/README.md (84%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/config/ur_controllers.yaml (100%)
 rename {motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver}/motion_primitives_ur_driver.hpp (92%)
 rename {motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver}/visibility_control.h (91%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/launch/motion_primitive_controller_ur.launch.py (98%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/launch/ur_rsp.launch.py (99%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/package.xml (95%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/scripts/send_multiple_dummy_motion_primitives.py (100%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py (100%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/scripts/send_single_dummy_motion_primitive.py (100%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/src/motion_primitives_ur_driver.cpp (99%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/test/test_motion_primitives_ur_driver.cpp (95%)
 rename motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos => ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos (100%)
 rename motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos => ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos (100%)
 create mode 100644 ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
 rename {motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver}/__init__.py (100%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/urdf/motion_primitive_ur.ros2_control.xacro (98%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/urdf/motion_primitive_ur.urdf.xacro (97%)
 rename {motion_primitives_ur_driver_pkg => ur_robot_motion_primitives_driver}/urdf/ur_joint_control.xacro (100%)

diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml b/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
deleted file mode 100644
index cf70a546e..000000000
--- a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="motion_primitives_ur_driver_pkg">
-  <class name="motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver"
-         type="motion_primitives_ur_driver_pkg::MotionPrimitivesUrDriver"
-         base_class_type="hardware_interface::SystemInterface">
-    <description>
-      ros2_control hardware interface.
-    </description>
-  </class>
-</library>
diff --git a/motion_primitives_ur_driver_pkg/CMakeLists.txt b/ur_robot_motion_primitives_driver/CMakeLists.txt
similarity index 87%
rename from motion_primitives_ur_driver_pkg/CMakeLists.txt
rename to ur_robot_motion_primitives_driver/CMakeLists.txt
index 7f2c28d7b..148371780 100644
--- a/motion_primitives_ur_driver_pkg/CMakeLists.txt
+++ b/ur_robot_motion_primitives_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(motion_primitives_ur_driver_pkg)
+project(ur_robot_motion_primitives_driver)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
@@ -31,17 +31,17 @@ include_directories(
   )
 
 add_library(
-  motion_primitives_ur_driver_pkg
+  ur_robot_motion_primitives_driver
   SHARED
   src/motion_primitives_ur_driver.cpp
 )
 target_include_directories(
-  motion_primitives_ur_driver_pkg
+  ur_robot_motion_primitives_driver
   PUBLIC
   include
 )
 ament_target_dependencies(
-  motion_primitives_ur_driver_pkg
+  ur_robot_motion_primitives_driver
   hardware_interface
   rclcpp
   rclcpp_lifecycle
@@ -51,14 +51,14 @@ ament_target_dependencies(
   tf2_geometry_msgs
 )
 # prevent pluginlib from using boost
-target_compile_definitions(motion_primitives_ur_driver_pkg PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(ur_robot_motion_primitives_driver PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 pluginlib_export_plugin_description_file(
-  hardware_interface motion_primitives_ur_driver_pkg.xml)
+  hardware_interface ur_robot_motion_primitives_driver.xml)
 
 install(
   TARGETS
-  motion_primitives_ur_driver_pkg
+  ur_robot_motion_primitives_driver
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -111,7 +111,7 @@ ament_export_include_directories(
   include
 )
 ament_export_libraries(
-  motion_primitives_ur_driver_pkg
+  ur_robot_motion_primitives_driver
 )
 ament_export_dependencies(
   hardware_interface
diff --git a/motion_primitives_ur_driver_pkg/LICENSE b/ur_robot_motion_primitives_driver/LICENSE
similarity index 100%
rename from motion_primitives_ur_driver_pkg/LICENSE
rename to ur_robot_motion_primitives_driver/LICENSE
diff --git a/motion_primitives_ur_driver_pkg/README.md b/ur_robot_motion_primitives_driver/README.md
similarity index 84%
rename from motion_primitives_ur_driver_pkg/README.md
rename to ur_robot_motion_primitives_driver/README.md
index 16493ada0..b057c4064 100644
--- a/motion_primitives_ur_driver_pkg/README.md
+++ b/ur_robot_motion_primitives_driver/README.md
@@ -1,4 +1,4 @@
-motion_primitives_ur_driver_pkg
+ur_robot_motion_primitives_driver
 ==========================================
 
 Driver package to control ur robot using motion primitives like MOVEJ (PTP), MOVEL (LIN) and MOVEC (CIRC)
@@ -22,20 +22,20 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.
 ```
 ## Launch motion_primitives_ur_driver
 ```
-ros2 launch motion_primitives_ur_driver_pkg motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
+ros2 launch ur_robot_motion_primitives_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
 ```
 ## Publish dummy commands
 ### Single motion primitive
 ```
-ros2 run motion_primitives_ur_driver_pkg send_single_dummy_motion_primitive.py
+ros2 run ur_robot_motion_primitives_driver send_single_dummy_motion_primitive.py
 ```
 ### Multiple motion primitives after checking status=2 (success)
 ```
-ros2 run motion_primitives_ur_driver_pkg send_multiple_dummy_motion_primitives_after_checking_status.py
+ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives_after_checking_status.py
 ```
 ### Multiple motion primitives without checking status
 ```
-ros2 run motion_primitives_ur_driver_pkg send_multiple_dummy_motion_primitives.py
+ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives.py
 ```
 ## Publish stop motion command 
 ```
diff --git a/motion_primitives_ur_driver_pkg/config/ur_controllers.yaml b/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
similarity index 100%
rename from motion_primitives_ur_driver_pkg/config/ur_controllers.yaml
rename to ur_robot_motion_primitives_driver/config/ur_controllers.yaml
diff --git a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
similarity index 92%
rename from motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp
rename to ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
index d76cd5c4d..a279e8e3c 100644
--- a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp
+++ b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
-#define MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#ifndef UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#define UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
 
 #include <string>
 #include <vector>
 #include <memory>
 
-#include "motion_primitives_ur_driver_pkg/visibility_control.h"
+#include "ur_robot_motion_primitives_driver/visibility_control.h"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
@@ -34,7 +34,7 @@
 
 #include "motion_primitives_forward_controller/execution_state.hpp"
 
-namespace motion_primitives_ur_driver_pkg
+namespace ur_robot_motion_primitives_driver
 {
 class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
 {
@@ -124,6 +124,6 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   bool non_blocking_read_;
 };
 
-}  // namespace motion_primitives_ur_driver_pkg
+}  // namespace ur_robot_motion_primitives_driver
 
-#endif  // MOTION_PRIMITIVES_UR_DRIVER_PKG__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#endif  // UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
diff --git a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/visibility_control.h
similarity index 91%
rename from motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h
rename to ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/visibility_control.h
index 87c989a4c..a155ebc7b 100644
--- a/motion_primitives_ur_driver_pkg/include/motion_primitives_ur_driver_pkg/visibility_control.h
+++ b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
-#define MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
+#ifndef UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
+#define UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
 #define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
 #endif
 
-#endif  // MOTION_PRIMITIVES_UR_DRIVER_PKG__VISIBILITY_CONTROL_H_
+#endif  // UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
diff --git a/motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py b/ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py
similarity index 98%
rename from motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py
rename to ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py
index 81f6730ca..2a2f5f29d 100644
--- a/motion_primitives_ur_driver_pkg/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py
@@ -276,7 +276,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "controllers_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("motion_primitives_ur_driver_pkg"), "config", "ur_controllers.yaml"]
+                [FindPackageShare("ur_robot_motion_primitives_driver"), "config", "ur_controllers.yaml"]
             ),
             description="YAML file with the controllers configuration.",
         )
@@ -285,7 +285,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_launchfile",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("motion_primitives_ur_driver_pkg"), "launch", "ur_rsp.launch.py"]
+                [FindPackageShare("ur_robot_motion_primitives_driver"), "launch", "ur_rsp.launch.py"]
             ),
             description="Launchfile (absolute path) providing the description. "
             "The launchfile has to start a robot_state_publisher node that "
diff --git a/motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py b/ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py
similarity index 99%
rename from motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py
rename to ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py
index 6fe67c67a..e04e6947b 100644
--- a/motion_primitives_ur_driver_pkg/launch/ur_rsp.launch.py
+++ b/ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py
@@ -295,7 +295,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("motion_primitives_ur_driver_pkg"), "urdf", "motion_primitive_ur.urdf.xacro"]
+                [FindPackageShare("ur_robot_motion_primitives_driver"), "urdf", "motion_primitive_ur.urdf.xacro"]
             ),
             description="URDF/XACRO description file with the robot.",
         )
diff --git a/motion_primitives_ur_driver_pkg/package.xml b/ur_robot_motion_primitives_driver/package.xml
similarity index 95%
rename from motion_primitives_ur_driver_pkg/package.xml
rename to ur_robot_motion_primitives_driver/package.xml
index eb4930f34..8284eb809 100644
--- a/motion_primitives_ur_driver_pkg/package.xml
+++ b/ur_robot_motion_primitives_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>motion_primitives_ur_driver_pkg</name>
+  <name>ur_robot_motion_primitives_driver</name>
   <version>0.0.0</version>
   <description>Driver package to control ur robot using motion primitives like PTP, LIN and CIRC</description>
   <maintainer email="mathias31415@gmx.de">mathias31415</maintainer>
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
similarity index 100%
rename from motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives.py
rename to ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
similarity index 100%
rename from motion_primitives_ur_driver_pkg/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
rename to ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
diff --git a/motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py b/ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py
similarity index 100%
rename from motion_primitives_ur_driver_pkg/scripts/send_single_dummy_motion_primitive.py
rename to ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py
diff --git a/motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
similarity index 99%
rename from motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp
rename to ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
index e702c9434..e2628cdf0 100644
--- a/motion_primitives_ur_driver_pkg/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
@@ -18,13 +18,13 @@
 #include <thread>
 #include <atomic>
 
-#include "motion_primitives_ur_driver_pkg/motion_primitives_ur_driver.hpp"
+#include "ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "motion_primitives_forward_controller/motion_type.hpp"
 
-namespace motion_primitives_ur_driver_pkg
+namespace ur_robot_motion_primitives_driver
 {
 
 MotionPrimitivesUrDriver::~MotionPrimitivesUrDriver()
@@ -631,9 +631,9 @@ bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<doub
   }
 }
 
-}  // namespace motion_primitives_ur_driver_pkg
+}  // namespace ur_robot_motion_primitives_driver
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  motion_primitives_ur_driver_pkg::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file
+  ur_robot_motion_primitives_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file
diff --git a/motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
similarity index 95%
rename from motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp
rename to ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
index 816a28598..54e7ca9ea 100644
--- a/motion_primitives_ur_driver_pkg/test/test_motion_primitives_ur_driver.cpp
+++ b/ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
@@ -30,7 +30,7 @@
 //       R"(
 //         <ros2_control name="MotionPrimitivesUrDriver2dof" type="system">
 //           <hardware>
-//             <plugin>motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver</plugin>
+//             <plugin>ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver</plugin>
 //           </hardware>
 //           <joint name="joint1">
 //             <command_interface name="position"/>
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos
similarity index 100%
rename from motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.repos
rename to ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos
similarity index 100%
rename from motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg.rolling.upstream.repos
rename to ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos
diff --git a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
new file mode 100644
index 000000000..d600f3c7d
--- /dev/null
+++ b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
@@ -0,0 +1,9 @@
+<library path="ur_robot_motion_primitives_driver">
+  <class name="ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver"
+         type="ur_robot_motion_primitives_driver::MotionPrimitivesUrDriver"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface.
+    </description>
+  </class>
+</library>
diff --git a/motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg/__init__.py b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver/__init__.py
similarity index 100%
rename from motion_primitives_ur_driver_pkg/motion_primitives_ur_driver_pkg/__init__.py
rename to ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver/__init__.py
diff --git a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
similarity index 98%
rename from motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro
rename to ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
index 65ab8b90a..c5e3a2000 100644
--- a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.ros2_control.xacro
+++ b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> -->
-  <xacro:include filename="$(find motion_primitives_ur_driver_pkg)/urdf/ur_joint_control.xacro" />
+  <xacro:include filename="$(find ur_robot_motion_primitives_driver)/urdf/ur_joint_control.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
 
   <xacro:macro name="motion_primitive_ur_ros2_control" params="
@@ -46,7 +46,7 @@
           <param name="calculate_dynamics">true</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
-          <plugin>motion_primitives_ur_driver_pkg/MotionPrimitivesUrDriver</plugin>
+          <plugin>ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="script_filename">${script_filename}</param>
           <param name="output_recipe_filename">${output_recipe_filename}</param>
diff --git a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro
similarity index 97%
rename from motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro
rename to ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro
index 72651fe07..e53a4a6df 100644
--- a/motion_primitives_ur_driver_pkg/urdf/motion_primitive_ur.urdf.xacro
+++ b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro
@@ -9,7 +9,7 @@
   <!-- ros2 control include -->
   <!-- <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" /> -->
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
-  <xacro:include filename="$(find motion_primitives_ur_driver_pkg)/urdf/motion_primitive_ur.ros2_control.xacro"/>
+  <xacro:include filename="$(find ur_robot_motion_primitives_driver)/urdf/motion_primitive_ur.ros2_control.xacro"/>
 
   <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
diff --git a/motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro b/ur_robot_motion_primitives_driver/urdf/ur_joint_control.xacro
similarity index 100%
rename from motion_primitives_ur_driver_pkg/urdf/ur_joint_control.xacro
rename to ur_robot_motion_primitives_driver/urdf/ur_joint_control.xacro

From 7f1ef70bad364d40fcb5569e2e1ba893eeba598e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 10:47:17 +0200
Subject: [PATCH 20/99] added functionallity to execute multiple primitives as
 a motion sequence

---
 .../config/ur_controllers.yaml                |   2 +-
 .../motion_primitives_ur_driver.hpp           |   3 +
 .../send_multiple_dummy_motion_primitives.py  |  10 +-
 .../src/motion_primitives_ur_driver.cpp       | 117 ++++++++++++++----
 4 files changed, 105 insertions(+), 27 deletions(-)

diff --git a/ur_robot_motion_primitives_driver/config/ur_controllers.yaml b/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
index 99264a97a..c3de3a5b1 100644
--- a/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
+++ b/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
@@ -209,4 +209,4 @@ motion_primitive_controller:
       - move_time
     state_interfaces:
       - execution_status
-    queue_size: 10    # queue size to buffer incoming commands
\ No newline at end of file
+    queue_size: 20    # queue size to buffer incoming commands
\ No newline at end of file
diff --git a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
index a279e8e3c..8bcdfeb5d 100644
--- a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
@@ -122,6 +122,9 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   bool robot_program_running_;
 
   bool non_blocking_read_;
+
+  std::atomic_bool build_motion_sequence_{false};   // flag to put all following primitives into a motion sequence instead of sending single primitives
+  std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence_;
 };
 
 }  // namespace ur_robot_motion_primitives_driver
diff --git a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
index d1b44db11..749056845 100755
--- a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
+++ b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
@@ -88,6 +88,12 @@
     MotionArgument(argument_name="velocity", argument_value=1.0),
     MotionArgument(argument_name="acceleration", argument_value=1.0)]
 
+msg_start_sequence = MotionPrimitive()
+msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
+
+msg_end_sequence = MotionPrimitive()
+msg_end_sequence.type = MotionPrimitive.MOTION_SEQUENCE_END
+
 class MotionPublisher(Node):
     def __init__(self):
         super().__init__('motion_publisher')
@@ -96,7 +102,9 @@ def __init__(self):
         self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
 
         # Nachrichten vorbereiten
-        self.messages = [msg1, msg2, msg3, msg4, msg5, msg6]
+        # self.messages = [msg_start_sequence, msg1, msg2, msg3, msg4, msg5, msg_end_sequence]
+        self.messages = [msg1, msg2, msg3, msg4, msg5, msg_start_sequence, msg1, msg2, msg3, msg4, msg5, msg_end_sequence, msg_start_sequence, msg1, msg2, msg_end_sequence, msg1, msg2]
+        # self.messages = [msg1, msg2, msg3, msg4, msg5, msg6]
         # self.messages = [msg1, msg2, msg3, msg4, msg1, msg2, msg3, msg4]
         self.get_logger().info(f"Number of messages: {len(self.messages)}")
 
diff --git a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
index e2628cdf0..5917ce2bd 100644
--- a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
@@ -363,6 +363,11 @@ void MotionPrimitivesUrDriver::processStopCommand()
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received STOP command");
   // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Trajectory running: %d", instruction_executor_->isTrajectoryRunning());
+  
+  // delete motion sequence
+  build_motion_sequence_ = false;
+  motion_sequence_.clear();
+
   if (instruction_executor_->isTrajectoryRunning()) {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Stopping motion ...");
     if(!instruction_executor_->cancelMotion()) {
@@ -419,6 +424,25 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
 
   try {
     switch (static_cast<uint8_t>(motion_type)) {
+      case MotionType::MOTION_SEQUENCE_START: {
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received motion type: MOTION_SEQUENCE_START");
+        build_motion_sequence_ = true;  // set flag to put all following commands into the motion sequence
+        motion_sequence_.clear();
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+        break;
+      }
+
+      case MotionType::MOTION_SEQUENCE_END: {
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received motion type: MOTION_SEQUENCE_END");
+        build_motion_sequence_ = false;
+        bool success = instruction_executor_->executeMotion(motion_sequence_);
+        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
+        motion_sequence_.clear();
+        break;
+      }
+
       case MotionType::LINEAR_JOINT: { // moveJ
         // Check if joint positions are valid
         for (int i = 1; i <= 6; ++i) {
@@ -437,15 +461,30 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           return;
         }
 
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+        
+        // Check if the command is part of a motion sequence or a single command
+        if (build_motion_sequence_) {   // Add command to motion sequence
+          motion_sequence_.emplace_back(
+            std::make_shared<urcl::control::MoveJPrimitive>(
+                joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration, velocity));        
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
+                joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5],
+                velocity, acceleration, move_time, blend_radius);
+          std::this_thread::sleep_for(std::chrono::milliseconds(10));
+          current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          return;
+        }
+        else{ // execute single primitive directly
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
                 "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                joint_positions[0], joint_positions[1], joint_positions[2],
-                joint_positions[3], joint_positions[4], joint_positions[5]
+                joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5]
                 , velocity, acceleration, move_time, blend_radius);
-
-        bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
-        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveJ: current_execution_status_ = %d", current_execution_status_.load());
+          bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
+          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveJ: current_execution_status_ = %d", current_execution_status_.load());
+          return;
+        }
         break;
       }
 
@@ -469,14 +508,27 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           return;
         }
 
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz,
-                velocity, acceleration, move_time, blend_radius);
-
-        bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
-        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveL: current_execution_status_ = %d", current_execution_status_.load());
+        // Check if the command is part of a motion sequence or a single command
+        if (build_motion_sequence_) {   // Add command to motion sequence
+          motion_sequence_.emplace_back(
+            std::make_shared<urcl::control::MoveLPrimitive>(
+                pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration, velocity));
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
+                pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
+          std::this_thread::sleep_for(std::chrono::milliseconds(10));
+          current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          return;
+        } 
+        else{ // execute single primitive directly
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                  "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
+                  pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
+          bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
+          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveL: current_execution_status_ = %d", current_execution_status_.load());
+          return;
+        }
         break;
       }
 
@@ -506,16 +558,31 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         double goal_rx, goal_ry, goal_rz;
         quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
         urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
-
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-          "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
-          via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
-          goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
-          velocity, acceleration, blend_radius, mode);
-
-        bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
-        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());
+        
+        // Check if the command is part of a motion sequence or a single command
+        if (build_motion_sequence_) {   // Add command to motion sequence
+          motion_sequence_.emplace_back(
+            std::make_shared<urcl::control::MoveCPrimitive>(
+                via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
+                via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
+                goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
+                velocity, acceleration, blend_radius, mode); 
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          return;
+        } 
+        else{ // execute single primitive directly
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
+                "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
+                via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
+                goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
+                velocity, acceleration, blend_radius, mode);          
+          bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
+          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());return;
+        }
         break;
       }
 

From 9838fdd3528d7f3dcd21c081d8d35b4e1540e71d Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 13:27:49 +0200
Subject: [PATCH 21/99] =?UTF-8?q?Added=20new=20state=20interface=20ready?=
 =?UTF-8?q?=5Ffor=5Fnew=5Fprimitive=20to=20indicate=20whether=20the=20hard?=
 =?UTF-8?q?ware=20interface=20can=20receive=20a=20new=20motion=20primitive?=
 =?UTF-8?q?=20=E2=80=94=20replaces=20the=20previous,=20more=20complex=20ha?=
 =?UTF-8?q?ndling=20via=20execution=5Fstatus?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../config/ur_controllers.yaml                |   1 +
 .../motion_primitives_ur_driver.hpp           |   1 +
 .../send_multiple_dummy_motion_primitives.py  | 126 ++++++++----------
 .../src/motion_primitives_ur_driver.cpp       |  62 ++++++---
 .../motion_primitive_ur.ros2_control.xacro    |   1 +
 5 files changed, 105 insertions(+), 86 deletions(-)

diff --git a/ur_robot_motion_primitives_driver/config/ur_controllers.yaml b/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
index c3de3a5b1..279f773c9 100644
--- a/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
+++ b/ur_robot_motion_primitives_driver/config/ur_controllers.yaml
@@ -209,4 +209,5 @@ motion_primitive_controller:
       - move_time
     state_interfaces:
       - execution_status
+      - ready_for_new_primitive
     queue_size: 20    # queue size to buffer incoming commands
\ No newline at end of file
diff --git a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
index 8bcdfeb5d..fc545924e 100644
--- a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
@@ -105,6 +105,7 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   
   // Execution status
   std::atomic<int8_t> current_execution_status_{ExecutionState::IDLE};
+  std::atomic_bool ready_for_new_primitive_{false}; // Flag to indicate if the hw-interface is ready for a new motion primitive
 
 
   std::vector<double> hw_mo_prim_commands_;   // Command interfaces for the motion primitives
diff --git a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
index 749056845..bb0001154 100755
--- a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
+++ b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
@@ -7,86 +7,81 @@
 from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
 
 # 4 Motion primitives aus: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
-msg1 = MotionPrimitive()
-msg1.type = MotionPrimitive.LINEAR_JOINT
-msg1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
-# msg1.blend_radius = 0.5
-msg1.additional_arguments = [
+msg_moveJ_1 = MotionPrimitive()
+msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
+msg_moveJ_1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
+msg_moveJ_1.blend_radius = 0.1
+msg_moveJ_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=1.0),
     MotionArgument(argument_name="acceleration", argument_value=1.0)]
 
-msg2 = MotionPrimitive()
-msg2.type = MotionPrimitive.LINEAR_JOINT
-# msg2.blend_radius = 0.5
-msg2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
-msg2.additional_arguments = [
+msg_moveJ_2 = MotionPrimitive()
+msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
+msg_moveJ_2.blend_radius = 0.1
+msg_moveJ_2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
+msg_moveJ_2.additional_arguments = [
     MotionArgument(argument_name="move_time", argument_value=2.0)]
 
-msg3 = MotionPrimitive()
-msg3.type = MotionPrimitive.LINEAR_CARTESIAN
-msg3.additional_arguments = [
+msg_moveL_1 = MotionPrimitive()
+msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
+msg_moveL_1.blend_radius = 0.1
+msg_moveL_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=2.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),
     MotionArgument(argument_name="move_time", argument_value=0.0)]
-pose3 = PoseStamped()
-pose3.pose.position.x = -0.203
-pose3.pose.position.y = 0.263
-pose3.pose.position.z = 0.559
-pose3.pose.orientation.x = -0.2734
-pose3.pose.orientation.y = -0.4930
-pose3.pose.orientation.z = -0.6086
-pose3.pose.orientation.w = 0.5584
-msg3.poses = [pose3]
-
-msg4 = MotionPrimitive()
-msg4.type = MotionPrimitive.LINEAR_CARTESIAN
-msg4.additional_arguments = [
+pose_L1 = PoseStamped()
+pose_L1.pose.position.x = -0.203
+pose_L1.pose.position.y = 0.263
+pose_L1.pose.position.z = 0.559
+pose_L1.pose.orientation.x = -0.2734
+pose_L1.pose.orientation.y = -0.4930
+pose_L1.pose.orientation.z = -0.6086
+pose_L1.pose.orientation.w = 0.5584
+msg_moveL_1.poses = [pose_L1]
+
+msg_moveL_2 = MotionPrimitive()
+msg_moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
+msg_moveL_2.blend_radius = 0.1
+msg_moveL_2.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=1.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),
     MotionArgument(argument_name="move_time", argument_value=2.0)]
-pose4 = PoseStamped()
-pose4.pose.position.x = -0.203
-pose4.pose.position.y = 0.463
-pose4.pose.position.z = 0.559
-pose4.pose.orientation.x = -0.2734
-pose4.pose.orientation.y = -0.4930
-pose4.pose.orientation.z = -0.6086
-pose4.pose.orientation.w = 0.5584
-msg4.poses = [pose4]
+pose_L2 = PoseStamped()
+pose_L2.pose.position.x = -0.203
+pose_L2.pose.position.y = 0.463
+pose_L2.pose.position.z = 0.559
+pose_L2.pose.orientation.x = -0.2734
+pose_L2.pose.orientation.y = -0.4930
+pose_L2.pose.orientation.z = -0.6086
+pose_L2.pose.orientation.w = 0.5584
+msg_moveL_2.poses = [pose_L2]
 
 # CIRC Befehl nicht unterstützt --> triggert motion sequence
-msg5 = MotionPrimitive()
-msg5.type = MotionPrimitive.CIRCULAR_CARTESIAN
-msg5.additional_arguments = [
+msg_moveC_1 = MotionPrimitive()
+msg_moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
+msg_moveC_1.blend_radius = 0.0
+msg_moveC_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=0.5),
     MotionArgument(argument_name="acceleration", argument_value=0.1)]
 # urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
 # urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
-pose5_via = PoseStamped()
-pose5_via.pose.position.x = -0.150
-pose5_via.pose.position.y = 0.350
-pose5_via.pose.position.z = 0.550
-pose5_via.pose.orientation.x = -0.2222
-pose5_via.pose.orientation.y = -0.4905
-pose5_via.pose.orientation.z = -0.6098
-pose5_via.pose.orientation.w = 0.58155
-pose5_goal = PoseStamped()
-pose5_goal.pose.position.x = -0.100
-pose5_goal.pose.position.y = 0.400
-pose5_goal.pose.position.z = 0.550
-pose5_goal.pose.orientation.x = -0.2222
-pose5_goal.pose.orientation.y = -0.490
-pose5_goal.pose.orientation.z = -0.608
-pose5_goal.pose.orientation.w = 0.58155
-msg5.poses = [pose5_goal, pose5_via]    # fist pose is goal, second is via point
-
-# Dummy msg to execute motion sequence
-msg6 = MotionPrimitive()
-msg6.type = 33  # Dummy type
-msg6.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
-msg6.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=1.0)]
+pose_C1_via = PoseStamped()
+pose_C1_via.pose.position.x = -0.150
+pose_C1_via.pose.position.y = 0.350
+pose_C1_via.pose.position.z = 0.550
+pose_C1_via.pose.orientation.x = -0.2222
+pose_C1_via.pose.orientation.y = -0.4905
+pose_C1_via.pose.orientation.z = -0.6098
+pose_C1_via.pose.orientation.w = 0.58155
+pose_C1_goal = PoseStamped()
+pose_C1_goal.pose.position.x = -0.100
+pose_C1_goal.pose.position.y = 0.400
+pose_C1_goal.pose.position.z = 0.550
+pose_C1_goal.pose.orientation.x = -0.2222
+pose_C1_goal.pose.orientation.y = -0.490
+pose_C1_goal.pose.orientation.z = -0.608
+pose_C1_goal.pose.orientation.w = 0.58155
+msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]    # first pose is goal, second is via point
 
 msg_start_sequence = MotionPrimitive()
 msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
@@ -102,10 +97,7 @@ def __init__(self):
         self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
 
         # Nachrichten vorbereiten
-        # self.messages = [msg_start_sequence, msg1, msg2, msg3, msg4, msg5, msg_end_sequence]
-        self.messages = [msg1, msg2, msg3, msg4, msg5, msg_start_sequence, msg1, msg2, msg3, msg4, msg5, msg_end_sequence, msg_start_sequence, msg1, msg2, msg_end_sequence, msg1, msg2]
-        # self.messages = [msg1, msg2, msg3, msg4, msg5, msg6]
-        # self.messages = [msg1, msg2, msg3, msg4, msg1, msg2, msg3, msg4]
+        self.messages = [msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_end_sequence, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_end_sequence, msg_moveJ_1, msg_moveJ_2]
         self.get_logger().info(f"Number of messages: {len(self.messages)}")
 
         # Alle Nachrichten direkt senden
diff --git a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
index 5917ce2bd..3bca8c822 100644
--- a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
@@ -65,7 +65,7 @@ hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(
 
   // Resize hardware state and command vectors, initializing them with NaN values.
   // TODO (mathias31415): is there a better way than hardcoding the size of the vectors? --> read the number of state and command interfaces somehow?
-  hw_mo_prim_states_.resize(1, std::numeric_limits<double>::quiet_NaN());     // 1 status
+  hw_mo_prim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());     // execution_status, ready_for_new_primitive
   hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());  // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
 
   return CallbackReturn::SUCCESS;
@@ -223,6 +223,7 @@ std::vector<hardware_interface::StateInterface> MotionPrimitivesUrDriver::export
 
   // State for execution_status
   state_interfaces.emplace_back(hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_mo_prim_states_[0]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_mo_prim_states_[1]));
 
   return state_interfaces;
 }
@@ -273,6 +274,7 @@ hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Activating Hardware Interface");
+  ready_for_new_primitive_ = true; // set to true to allow sending new commands
   return CallbackReturn::SUCCESS;
 }
 
@@ -298,8 +300,10 @@ hardware_interface::return_type MotionPrimitivesUrDriver::read(
     state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
   }
 
-  // Update the state interface with the current execution status
+  // Update the state interfaces
   hw_mo_prim_states_[0] = current_execution_status_;    // 0=idle, 1=executing, 2=success, 3=error
+  hw_mo_prim_states_[1] = static_cast<double>(ready_for_new_primitive_);
+
 
   return hardware_interface::return_type::OK;
 }
@@ -310,6 +314,7 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(
 {
   // Check if we have a new command
   if (!std::isnan(hw_mo_prim_commands_[0])) {
+    ready_for_new_primitive_ = false; // set to false to indicate that the driver is busy handeling a command
     if (hw_mo_prim_commands_[0] == MotionType::STOP_MOTION) {
       // Stop command received
       std::lock_guard<std::mutex> guard(stop_mutex_);
@@ -319,7 +324,7 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(
         std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
       }
     } else {
-      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Command of type: %f recived", hw_mo_prim_commands_[0]);
+      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Command of type: %f recived", hw_mo_prim_commands_[0]);
       std::lock_guard<std::mutex> guard(command_mutex_);
       if (!new_command_available_) {
         // Copy command to thread-safe buffer
@@ -349,7 +354,7 @@ void MotionPrimitivesUrDriver::asyncStopMotionThread()
         new_stop_available_ = false;
       }
       // Stop the motion
-      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] New stop command available");
+      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] New stop command available");
       processStopCommand();
     }
 
@@ -376,11 +381,13 @@ void MotionPrimitivesUrDriver::processStopCommand()
     } else {
       RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Motion stopped successfully");
       current_execution_status_ = ExecutionState::IDLE;
+      ready_for_new_primitive_ = true; // set to true to allow sending new commands
     }
   }
   else {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "No motion to stop");
     current_execution_status_ = ExecutionState::IDLE;
+    ready_for_new_primitive_ = true; // set to true to allow sending new commands
   }
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processStopCommand] After executing stop: current_execution_status_ = %d", current_execution_status_.load());
 }
@@ -413,7 +420,6 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
   if (command.empty() || std::isnan(command[0])) {
     return;
   }
-  current_execution_status_ = ExecutionState::EXECUTING;
 
   double motion_type = command[0];
   
@@ -425,22 +431,25 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
   try {
     switch (static_cast<uint8_t>(motion_type)) {
       case MotionType::MOTION_SEQUENCE_START: {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received motion type: MOTION_SEQUENCE_START");
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_START: add all following commands to the motion sequence.");
         build_motion_sequence_ = true;  // set flag to put all following commands into the motion sequence
         motion_sequence_.clear();
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-        current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
-        break;
+        ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        return;
       }
 
       case MotionType::MOTION_SEQUENCE_END: {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received motion type: MOTION_SEQUENCE_END");
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_END: executing motion sequence with %zu commands", motion_sequence_.size());
         build_motion_sequence_ = false;
+        current_execution_status_ = ExecutionState::EXECUTING;
         bool success = instruction_executor_->executeMotion(motion_sequence_);
         current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
         RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
         motion_sequence_.clear();
-        break;
+        if(success){
+          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        }
+        return;
       }
 
       case MotionType::LINEAR_JOINT: { // moveJ
@@ -471,11 +480,11 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
                 "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
                 joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5],
                 velocity, acceleration, move_time, blend_radius);
-          std::this_thread::sleep_for(std::chrono::milliseconds(10));
-          current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          ready_for_new_primitive_ = true; // set to true to allow sending new commands
           return;
         }
         else{ // execute single primitive directly
+          current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
                 "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
                 joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5]
@@ -483,6 +492,9 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveJ: current_execution_status_ = %d", current_execution_status_.load());
+          if(success){
+            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+          }
           return;
         }
         break;
@@ -516,17 +528,20 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
                 "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
                 pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
-          std::this_thread::sleep_for(std::chrono::milliseconds(10));
-          current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          ready_for_new_primitive_ = true; // set to true to allow sending new commands
           return;
         } 
         else{ // execute single primitive directly
+          current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
                   "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
                   pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
           bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveL: current_execution_status_ = %d", current_execution_status_.load());
+          if(success){
+            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+          }
           return;
         }
         break;
@@ -569,11 +584,11 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
                 via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
                 goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
                 velocity, acceleration, blend_radius, mode); 
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-        current_execution_status_ = ExecutionState::IDLE;   // set to IDLE to allow controller to send new commands
+          ready_for_new_primitive_ = true; // set to true to allow sending new commands
           return;
         } 
         else{ // execute single primitive directly
+          current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
                 "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
                 via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
@@ -581,13 +596,20 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
                 velocity, acceleration, blend_radius, mode);          
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());return;
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " success: %d", success);
+          if(success){
+            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+            RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "ready_for_new_primitive_ = true");
+          }
+          return;
         }
         break;
       }
 
       case 33: { 
         // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing
+        current_execution_status_ = ExecutionState::EXECUTING;
         RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Sending hardcoded motion sequence");
         std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence{
           std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1, std::chrono::seconds(0), 1.0, 1.0),
@@ -616,7 +638,9 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         bool success = instruction_executor_->executeMotion(motion_sequence);
         current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
         RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
-        break;
+        if(success){
+          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        }break;
       }
       
       default: {
diff --git a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
index c5e3a2000..49015cf74 100644
--- a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
+++ b/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
@@ -328,6 +328,7 @@
         <command_interface name="move_time"/>
         
         <state_interface name="execution_status"/>
+        <state_interface name="ready_for_new_primitive"/>
       </gpio>
 
     </ros2_control>

From a84380f6a5b96913d3dffda80f43b0e5cd3e91aa Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 13:35:23 +0200
Subject: [PATCH 22/99] removed case 33 block with hardcoded motion sequence
 (was only for testing)

---
 .../src/motion_primitives_ur_driver.cpp       | 38 +------------------
 1 file changed, 1 insertion(+), 37 deletions(-)

diff --git a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
index 3bca8c822..8ea6cbe33 100644
--- a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
@@ -439,7 +439,7 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
       }
 
       case MotionType::MOTION_SEQUENCE_END: {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_END: executing motion sequence with %zu commands", motion_sequence_.size());
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives", motion_sequence_.size());
         build_motion_sequence_ = false;
         current_execution_status_ = ExecutionState::EXECUTING;
         bool success = instruction_executor_->executeMotion(motion_sequence_);
@@ -607,42 +607,6 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         break;
       }
 
-      case 33: { 
-        // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing
-        current_execution_status_ = ExecutionState::EXECUTING;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Sending hardcoded motion sequence");
-        std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence{
-          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1, std::chrono::seconds(0), 1.0, 1.0),
-          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }, 0.1, std::chrono::seconds(2)),
-          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose(-0.203, 0.263, 0.559, 0.68, -1.083, -2.076), 0.1, std::chrono::seconds(0), 0.5, 2.0),
-          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1, std::chrono::seconds(2)),
-          std::make_shared<urcl::control::MoveCPrimitive>(
-            urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
-            urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
-            0.05,  // acceleration
-            0.2,  // velocity
-            0.0, // blend_radius
-            0),    // mode
-          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.57, 0, 0, 0, 0 }, 0.1, std::chrono::seconds(0), 1.0, 1.0),
-          std::make_shared<urcl::control::MoveJPrimitive>(urcl::vector6d_t{ -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 }, 0.1, std::chrono::seconds(2)),
-          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose(-0.203, 0.263, 0.559, 0.68, -1.083, -2.076), 0.1, std::chrono::seconds(0), 0.5, 2.0),
-          std::make_shared<urcl::control::MoveLPrimitive>(urcl::Pose{ -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 }, 0.1, std::chrono::seconds(2)),
-          std::make_shared<urcl::control::MoveCPrimitive>(
-            urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
-            urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
-            0.05,  // acceleration
-            0.2,  // velocity
-            0.0, // blend_radius
-            0)  
-        };
-        bool success = instruction_executor_->executeMotion(motion_sequence);
-        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
-        if(success){
-          ready_for_new_primitive_ = true; // set to true to allow sending new commands
-        }break;
-      }
-      
       default: {
         RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: motion type %f is not supported", motion_type);
         current_execution_status_ = ExecutionState::ERROR;

From c17773fcee8e2b86785cbd6101ec0c2408004aad Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 14:47:07 +0200
Subject: [PATCH 23/99] edited readme

---
 ur_robot_motion_primitives_driver/README.md | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ur_robot_motion_primitives_driver/README.md b/ur_robot_motion_primitives_driver/README.md
index b057c4064..45c23fa05 100644
--- a/ur_robot_motion_primitives_driver/README.md
+++ b/ur_robot_motion_primitives_driver/README.md
@@ -7,10 +7,12 @@ Driver package to control ur robot using motion primitives like MOVEJ (PTP), MOV
 
 # Other packages needed
 - [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library)
-- [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces)
+- ~~[industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces)~~
+- [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - ~~[motion_primitives_controller_pkg](https://github.com/mathias31415/ros2_motion_primitives_controller_pkg)~~
 - [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
-- [Universal_Robots_ROS2_Driver](https://github.com/mathias31415/Universal_Robots_ROS2_Driver)
+- ~~[Universal_Robots_ROS2_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)~~
+- [Universal_Robots_ROS2_Driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - ~~[Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)~~
 - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
  

From 3eb633b98618617872a98bc695a4878fe0d59cbc Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 15:03:33 +0200
Subject: [PATCH 24/99] reduced blend radius for moveL

---
 .../scripts/send_multiple_dummy_motion_primitives.py          | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
index bb0001154..89c82a367 100755
--- a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
+++ b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
@@ -24,7 +24,7 @@
 
 msg_moveL_1 = MotionPrimitive()
 msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_1.blend_radius = 0.1
+msg_moveL_1.blend_radius = 0.05
 msg_moveL_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=2.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),
@@ -41,7 +41,7 @@
 
 msg_moveL_2 = MotionPrimitive()
 msg_moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_2.blend_radius = 0.1
+msg_moveL_2.blend_radius = 0.05
 msg_moveL_2.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=1.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),

From 20de4412a5810f24e7fb747c7ffb58aadab5f34e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 17:06:24 +0200
Subject: [PATCH 25/99] integrated ur_robot_motion_primitives_driver into
 ur_robot_driver pkg

---
 ur_robot_driver/CMakeLists.txt                |  37 +++++-
 .../README_MotionPrimitive.md                 |  11 +-
 .../ur_controllers_motion_primitive.yaml      |   0
 .../examples/send_dummy_motion_primitives.py  |   0
 .../motion_primitives_ur_driver.hpp           |   2 +-
 .../ur_robot_driver}/visibility_control.h     |   0
 .../motion_primitive_controller_ur.launch.py  |   4 +-
 .../launch/motion_primitive_ur_rsp.launch.py  |   2 +-
 ...on_primitive_hardware_interface_plugin.xml |   9 ++
 ur_robot_driver/package.xml                   |   1 +
 .../src/motion_primitives_ur_driver.cpp       |   2 +-
 .../motion_primitive_ur.ros2_control.xacro    |   4 +-
 .../urdf/motion_primitive_ur.urdf.xacro       |   8 +-
 .../motion_primitive_ur_joint_control.xacro   |   0
 .../CMakeLists.txt                            | 123 ------------------
 ur_robot_motion_primitives_driver/LICENSE     |  25 ----
 ur_robot_motion_primitives_driver/package.xml |  38 ------
 ...motion_primitives_after_checking_status.py | 119 -----------------
 .../send_single_dummy_motion_primitive.py     |  75 -----------
 .../test/test_motion_primitives_ur_driver.cpp |  57 --------
 ...bot_motion_primitives_driver.rolling.repos |   6 -
 ...n_primitives_driver.rolling.upstream.repos |   6 -
 .../ur_robot_motion_primitives_driver.xml     |   9 --
 .../__init__.py                               |   0
 24 files changed, 57 insertions(+), 481 deletions(-)
 rename ur_robot_motion_primitives_driver/README.md => ur_robot_driver/README_MotionPrimitive.md (81%)
 rename ur_robot_motion_primitives_driver/config/ur_controllers.yaml => ur_robot_driver/config/ur_controllers_motion_primitive.yaml (100%)
 rename ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py => ur_robot_driver/examples/send_dummy_motion_primitives.py (100%)
 rename {ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver => ur_robot_driver/include/ur_robot_driver}/motion_primitives_ur_driver.hpp (98%)
 rename {ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver => ur_robot_driver/include/ur_robot_driver}/visibility_control.h (100%)
 rename {ur_robot_motion_primitives_driver => ur_robot_driver}/launch/motion_primitive_controller_ur.launch.py (98%)
 rename ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py => ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py (99%)
 create mode 100644 ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
 rename {ur_robot_motion_primitives_driver => ur_robot_driver}/src/motion_primitives_ur_driver.cpp (99%)
 rename {ur_robot_motion_primitives_driver => ur_robot_driver}/urdf/motion_primitive_ur.ros2_control.xacro (98%)
 rename {ur_robot_motion_primitives_driver => ur_robot_driver}/urdf/motion_primitive_ur.urdf.xacro (93%)
 rename ur_robot_motion_primitives_driver/urdf/ur_joint_control.xacro => ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro (100%)
 delete mode 100644 ur_robot_motion_primitives_driver/CMakeLists.txt
 delete mode 100644 ur_robot_motion_primitives_driver/LICENSE
 delete mode 100644 ur_robot_motion_primitives_driver/package.xml
 delete mode 100755 ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
 delete mode 100755 ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py
 delete mode 100644 ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
 delete mode 100644 ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos
 delete mode 100644 ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos
 delete mode 100644 ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
 delete mode 100644 ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver/__init__.py

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index f8ac46f39..10e547d6e 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -34,6 +34,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
+find_package(motion_primitives_forward_controller REQUIRED)
 
 include_directories(include)
 
@@ -60,22 +61,48 @@ add_library(ur_robot_driver_plugin
   src/urcl_log_handler.cpp
   src/robot_state_helper.cpp
 )
+add_library(ur_robot_motion_primitives_driver_plugin
+  SHARED
+  src/motion_primitives_ur_driver.cpp
+)
 target_link_libraries(
   ur_robot_driver_plugin
   ur_client_library::urcl
 )
+target_link_libraries(
+  ur_robot_motion_primitives_driver_plugin
+  ur_client_library::urcl
+)
 target_include_directories(
   ur_robot_driver_plugin
   PRIVATE
   include
 )
+target_include_directories(
+  ur_robot_motion_primitives_driver_plugin
+  PRIVATE
+  include
+)
 ament_target_dependencies(
   ur_robot_driver_plugin
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+# TODO(mathias31415): wie bei ur_robot_driver_plugin machen?
+ament_target_dependencies(
+  ur_robot_motion_primitives_driver_plugin
+  hardware_interface
+  rclcpp
+  rclcpp_lifecycle
+  motion_primitives_forward_controller
+  ur_client_library
+  tf2
+  tf2_geometry_msgs
+)
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)
 
+pluginlib_export_plugin_description_file(hardware_interface motion_primitive_hardware_interface_plugin.xml)
+
 #
 # dashboard_client
 #
@@ -121,6 +148,10 @@ install(
   TARGETS ur_robot_driver_plugin
   DESTINATION lib
 )
+install(
+  TARGETS ur_robot_motion_primitives_driver_plugin
+  DESTINATION lib
+)
 install(
   DIRECTORY include/
   DESTINATION include
@@ -132,6 +163,7 @@ ament_export_include_directories(
 )
 ament_export_libraries(
   ur_robot_driver_plugin
+  ur_robot_motion_primitives_driver_plugin
 )
 
 install(DIRECTORY resources
@@ -140,10 +172,6 @@ install(DIRECTORY resources
 )
 
 
-install(DIRECTORY include/
-  DESTINATION include
-)
-
 ament_export_dependencies(
   hardware_interface
   pluginlib
@@ -163,6 +191,7 @@ install(PROGRAMS
   scripts/start_ursim.sh
   examples/examples.py
   examples/force_mode.py
+  examples/send_dummy_motion_primitives.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/ur_robot_motion_primitives_driver/README.md b/ur_robot_driver/README_MotionPrimitive.md
similarity index 81%
rename from ur_robot_motion_primitives_driver/README.md
rename to ur_robot_driver/README_MotionPrimitive.md
index 45c23fa05..6d06cc5f0 100644
--- a/ur_robot_motion_primitives_driver/README.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -24,20 +24,22 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.
 ```
 ## Launch motion_primitives_ur_driver
 ```
-ros2 launch ur_robot_motion_primitives_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
+~~ros2 launch ur_robot_motion_primitives_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true~~
+ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
 ```
 ## Publish dummy commands
 ### Single motion primitive
 ```
-ros2 run ur_robot_motion_primitives_driver send_single_dummy_motion_primitive.py
+~~ros2 run ur_robot_motion_primitives_driver send_single_dummy_motion_primitive.py~~
 ```
 ### Multiple motion primitives after checking status=2 (success)
 ```
-ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives_after_checking_status.py
+~~ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives_after_checking_status.py~~
 ```
 ### Multiple motion primitives without checking status
 ```
-ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives.py
+~~ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives.py~~
+ros2 run ur_robot_driver send_multiple_dummy_motion_primitives.py
 ```
 ## Publish stop motion command 
 ```
@@ -58,7 +60,6 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 
 # TODO's
 - if trajectory is finished while instruction_executer->cancelMotion() is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call instruction_executer->cancelMotion() a second time
-- motion sequence instead of single primitives?
 
 ## Useful sources
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
diff --git a/ur_robot_motion_primitives_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers_motion_primitive.yaml
similarity index 100%
rename from ur_robot_motion_primitives_driver/config/ur_controllers.yaml
rename to ur_robot_driver/config/ur_controllers_motion_primitive.yaml
diff --git a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py b/ur_robot_driver/examples/send_dummy_motion_primitives.py
similarity index 100%
rename from ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives.py
rename to ur_robot_driver/examples/send_dummy_motion_primitives.py
diff --git a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
similarity index 98%
rename from ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
rename to ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index fc545924e..23adcd400 100644
--- a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -19,7 +19,7 @@
 #include <vector>
 #include <memory>
 
-#include "ur_robot_motion_primitives_driver/visibility_control.h"
+#include "ur_robot_driver/visibility_control.h"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
diff --git a/ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/visibility_control.h b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
similarity index 100%
rename from ur_robot_motion_primitives_driver/include/ur_robot_motion_primitives_driver/visibility_control.h
rename to ur_robot_driver/include/ur_robot_driver/visibility_control.h
diff --git a/ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
similarity index 98%
rename from ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py
rename to ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
index 2a2f5f29d..ff745d4ff 100644
--- a/ur_robot_motion_primitives_driver/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
@@ -276,7 +276,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "controllers_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_motion_primitives_driver"), "config", "ur_controllers.yaml"]
+                [FindPackageShare("ur_robot_driver"), "config", "ur_controllers_motion_primitive.yaml"]
             ),
             description="YAML file with the controllers configuration.",
         )
@@ -285,7 +285,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_launchfile",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_motion_primitives_driver"), "launch", "ur_rsp.launch.py"]
+                [FindPackageShare("ur_robot_driver"), "launch", "motion_primitive_ur_rsp.launch.py"]
             ),
             description="Launchfile (absolute path) providing the description. "
             "The launchfile has to start a robot_state_publisher node that "
diff --git a/ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py b/ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
similarity index 99%
rename from ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py
rename to ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
index e04e6947b..a3bcdf94d 100644
--- a/ur_robot_motion_primitives_driver/launch/ur_rsp.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
@@ -295,7 +295,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_motion_primitives_driver"), "urdf", "motion_primitive_ur.urdf.xacro"]
+                [FindPackageShare("ur_robot_driver"), "urdf", "motion_primitive_ur.urdf.xacro"]
             ),
             description="URDF/XACRO description file with the robot.",
         )
diff --git a/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml b/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
new file mode 100644
index 000000000..de9070f33
--- /dev/null
+++ b/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
@@ -0,0 +1,9 @@
+<library path="ur_robot_motion_primitives_driver_plugin">
+  <class name="ur_robot_driver/MotionPrimitivesUrDriver"
+         type="ur_robot_driver::MotionPrimitivesUrDriver"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface for motion primitives.
+    </description>
+  </class>
+</library>
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index a4be33882..53833eafa 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -46,6 +46,7 @@
   <depend>ur_dashboard_msgs</depend>
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
+  <depend>motion_primitives_forward_controller</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
diff --git a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
similarity index 99%
rename from ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
rename to ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 8ea6cbe33..9207b13a2 100644
--- a/ur_robot_motion_primitives_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -18,7 +18,7 @@
 #include <thread>
 #include <atomic>
 
-#include "ur_robot_motion_primitives_driver/motion_primitives_ur_driver.hpp"
+#include "ur_robot_driver/motion_primitives_ur_driver.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
 
diff --git a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
similarity index 98%
rename from ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
rename to ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
index 49015cf74..41e3e1087 100644
--- a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> -->
-  <xacro:include filename="$(find ur_robot_motion_primitives_driver)/urdf/ur_joint_control.xacro" />
+  <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur_joint_control.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
 
   <xacro:macro name="motion_primitive_ur_ros2_control" params="
@@ -46,7 +46,7 @@
           <param name="calculate_dynamics">true</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
-          <plugin>ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver</plugin>
+          <plugin>ur_robot_driver/MotionPrimitivesUrDriver</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="script_filename">${script_filename}</param>
           <param name="output_recipe_filename">${output_recipe_filename}</param>
diff --git a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro b/ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro
similarity index 93%
rename from ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro
rename to ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro
index e53a4a6df..06ce08b10 100644
--- a/ur_robot_motion_primitives_driver/urdf/motion_primitive_ur.urdf.xacro
+++ b/ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro
@@ -3,13 +3,11 @@
   <!-- robot name parameter -->
   <xacro:arg name="name" default="ur"/>
 
-  <!-- <xacro:arg name="motion_primitive_name" default="motion_primitive_control_ur"/> -->
-
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
   <!-- ros2 control include -->
   <!-- <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" /> -->
+  <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur.ros2_control.xacro"/>
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
-  <xacro:include filename="$(find ur_robot_motion_primitives_driver)/urdf/motion_primitive_ur.ros2_control.xacro"/>
 
   <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
@@ -105,8 +103,4 @@
     script_sender_port="$(arg script_sender_port)"
     trajectory_port="$(arg trajectory_port)"
   />
-
-  <!-- Include motion primitive control -->
-  <!-- <xacro:motion_primitive_ur_ros2_control name="$(arg motion_primitive_name)"/> -->
-
 </robot>
diff --git a/ur_robot_motion_primitives_driver/urdf/ur_joint_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro
similarity index 100%
rename from ur_robot_motion_primitives_driver/urdf/ur_joint_control.xacro
rename to ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro
diff --git a/ur_robot_motion_primitives_driver/CMakeLists.txt b/ur_robot_motion_primitives_driver/CMakeLists.txt
deleted file mode 100644
index 148371780..000000000
--- a/ur_robot_motion_primitives_driver/CMakeLists.txt
+++ /dev/null
@@ -1,123 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(ur_robot_motion_primitives_driver)
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(ament_cmake_gmock REQUIRED)
-find_package(ros2_control_test_assets REQUIRED)
-find_package(motion_primitives_forward_controller REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(industrial_robot_motion_interfaces REQUIRED)
-# find_package(urcl REQUIRED)
-find_package(ur_client_library REQUIRED)
-find_package(ur_robot_driver REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-
-include_directories(
-  ${ur_robot_driver_INCLUDE_DIRS}
-  ${tf2_INCLUDE_DIRS}
-  ${tf2_geometry_msgs_INCLUDE_DIRS}
-  ${motion_primitives_forward_controller_INCLUDE_DIRS}
-  )
-
-add_library(
-  ur_robot_motion_primitives_driver
-  SHARED
-  src/motion_primitives_ur_driver.cpp
-)
-target_include_directories(
-  ur_robot_motion_primitives_driver
-  PUBLIC
-  include
-)
-ament_target_dependencies(
-  ur_robot_motion_primitives_driver
-  hardware_interface
-  rclcpp
-  rclcpp_lifecycle
-  motion_primitives_forward_controller
-  ur_client_library
-  tf2
-  tf2_geometry_msgs
-)
-# prevent pluginlib from using boost
-target_compile_definitions(ur_robot_motion_primitives_driver PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface ur_robot_motion_primitives_driver.xml)
-
-install(
-  TARGETS
-  ur_robot_motion_primitives_driver
-  RUNTIME DESTINATION bin
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(
-  DIRECTORY launch/
-  DESTINATION share/${PROJECT_NAME}/launch
-)
-
-install(
-  DIRECTORY urdf/
-  DESTINATION share/${PROJECT_NAME}/urdf
-)
-
-install(
-  DIRECTORY config/
-  DESTINATION share/${PROJECT_NAME}/config
-)
-
-# Install Python execs
-ament_python_install_package(${PROJECT_NAME})
-
-# Install the Python script as an executable
-install(PROGRAMS
-  scripts/send_single_dummy_motion_primitive.py  # Python script
-  scripts/send_multiple_dummy_motion_primitives_after_checking_status.py 
-  scripts/send_multiple_dummy_motion_primitives.py 
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-
-  ament_add_gmock(test_motion_primitives_ur_driver test/test_motion_primitives_ur_driver.cpp)
-  target_include_directories(test_motion_primitives_ur_driver PRIVATE include)
-  ament_target_dependencies(
-    test_motion_primitives_ur_driver
-    hardware_interface
-    pluginlib
-    ros2_control_test_assets
-  )
-endif()
-
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ur_robot_motion_primitives_driver
-)
-ament_export_dependencies(
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
-)
-
-ament_package()
diff --git a/ur_robot_motion_primitives_driver/LICENSE b/ur_robot_motion_primitives_driver/LICENSE
deleted file mode 100644
index 574ef0790..000000000
--- a/ur_robot_motion_primitives_driver/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-
-   * Neither the name of the copyright holder nor the names of its
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
diff --git a/ur_robot_motion_primitives_driver/package.xml b/ur_robot_motion_primitives_driver/package.xml
deleted file mode 100644
index 8284eb809..000000000
--- a/ur_robot_motion_primitives_driver/package.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>ur_robot_motion_primitives_driver</name>
-  <version>0.0.0</version>
-  <description>Driver package to control ur robot using motion primitives like PTP, LIN and CIRC</description>
-  <maintainer email="mathias31415@gmx.de">mathias31415</maintainer>
-  <license>BSD-3-Clause</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_gmock</buildtool_depend> 
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
-
-  <depend>hardware_interface</depend>
-
-  <depend>pluginlib</depend>
-
-  <depend>rclcpp</depend>
-
-  <exec_depend>rclpy</exec_depend>
-
-  <depend>rclcpp_lifecycle</depend>
-
-  <depend>ros2_control_test_assets</depend>
-
-  <depend>motion_primitives_forward_controller</depend>
-
-  <depend>urcl</depend>
-
-  <depend>ur_robot_driver</depend>
-
-  <depend>tf2</depend>
-  <depend>tf2_geometry_msgs</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py b/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
deleted file mode 100755
index 6c68378e2..000000000
--- a/ur_robot_motion_primitives_driver/scripts/send_multiple_dummy_motion_primitives_after_checking_status.py
+++ /dev/null
@@ -1,119 +0,0 @@
-#!/usr/bin/env python3
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import Int8
-from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
-
-# 4 Motion primitives aus: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
-msg1 = MotionPrimitive()
-msg1.type = MotionPrimitive.LINEAR_JOINT
-msg1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
-# msg1.blend_radius = 0.5
-msg1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=1.0)]
-
-msg2 = MotionPrimitive()
-msg2.type = MotionPrimitive.LINEAR_JOINT
-# msg2.blend_radius = 0.5
-msg2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
-msg2.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=2.0)]
-
-msg3 = MotionPrimitive()
-msg3.type = MotionPrimitive.LINEAR_CARTESIAN
-msg3.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=2.0),
-    MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=0.0)]
-pose3 = PoseStamped()
-pose3.pose.position.x = -0.203
-pose3.pose.position.y = 0.263
-pose3.pose.position.z = 0.559
-pose3.pose.orientation.x = -0.2734
-pose3.pose.orientation.y = -0.4930
-pose3.pose.orientation.z = -0.6086
-pose3.pose.orientation.w = 0.5584
-msg3.poses = [pose3]
-
-msg4 = MotionPrimitive()
-msg4.type = MotionPrimitive.LINEAR_CARTESIAN
-msg4.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=2.0)]
-pose4 = PoseStamped()
-pose4.pose.position.x = -0.203
-pose4.pose.position.y = 0.463
-pose4.pose.position.z = 0.559
-pose4.pose.orientation.x = -0.2734
-pose4.pose.orientation.y = -0.4930
-pose4.pose.orientation.z = -0.6086
-pose4.pose.orientation.w = 0.5584
-msg4.poses = [pose4]
-
-
-class MotionPublisher(Node):
-    def __init__(self):
-        super().__init__('motion_publisher')
-
-        # Publisher für MotionPrimitive-Nachrichten
-        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
-
-        # Subscriber für den State
-        self.subscription = self.create_subscription(Int8, '/motion_primitive_controller/state', self.state_callback, 10)
-
-        # Nachrichten vorbereiten
-        self.messages = [msg1, msg2, msg3, msg4]
-        # self.messages = [msg1, msg2]
-        self.get_logger().info(f"Number of messages: {len(self.messages)}")
-
-        self.current_msg_index = 0  # Start mit der ersten Nachricht
-
-        self.print_error = True  # Flag für Fehlerausgabe --> only print once
-        self.was_executing = False  # Flag für Ausführung --> nur einmal setzen
-
-        # Erste Nachricht direkt senden
-        self.send_next_message()
-
-    def send_next_message(self):
-        """ Sendet die nächste Nachricht in der Liste, falls vorhanden """
-        self.was_executing = False
-        self.get_logger().info(f"Sending message {self.current_msg_index + 1} of {len(self.messages)}")
-        if self.current_msg_index < len(self.messages):
-            msg = self.messages[self.current_msg_index]
-            self.publisher_.publish(msg)
-            self.get_logger().info(f'Sent message {self.current_msg_index + 1}: {msg}')
-            self.current_msg_index += 1
-        else:
-            self.get_logger().info("All messages sent.")
-
-    def state_callback(self, msg):
-        """ Reagiert auf den aktuellen State """
-        state = msg.data
-        if state == 1:  # Ausführung
-            if not self.was_executing:
-                self.get_logger().info("Executing motion...")
-                self.was_executing = True
-        elif state == 2 and self.was_executing:  # Erfolg
-            self.get_logger().info("Success: Motion completed!")
-            self.send_next_message()
-        elif state == 3 and self.print_error:  # Fehler
-            self.print_error = False
-            self.get_logger().error("Error: Motion failed!")
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = MotionPublisher()
-    rclpy.spin(node)
-
-    # Cleanup
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py b/ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py
deleted file mode 100755
index 3e203113c..000000000
--- a/ur_robot_motion_primitives_driver/scripts/send_single_dummy_motion_primitive.py
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/usr/bin/env python3 
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import UInt8
-from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
-
-class DummyPublisher(Node):
-    def __init__(self):
-        super().__init__('dummy_publisher')
-        
-        # Publisher for the MotionPrimitive message
-        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
-        
-        # Timer to call the publishing function every 1 second
-        self.timer = self.create_timer(1.0, self.timer_callback)
-
-    def timer_callback(self):
-        msg = MotionPrimitive()
-    
-        msg.type = 50
-        # msg.blend_radius = 0.051
-        
-        # Add additional arguments 
-        arg_vel = MotionArgument()
-        arg_vel.argument_name = "velocity"
-        arg_vel.argument_value = 1.03
-
-        arg_acc = MotionArgument()
-        arg_acc.argument_name = "acceleration"
-        arg_acc.argument_value = 0.57
-        # msg.additional_arguments = [arg_vel, arg_acc]
-
-        arg_time = MotionArgument()
-        arg_time.argument_name = "move_time"
-        arg_time.argument_value = 0.0
-        msg.additional_arguments = [arg_vel, arg_acc, arg_time]
-        
-        # Create a PoseStamped message (Cartesian position)
-        pose = PoseStamped()
-        pose.header.stamp = self.get_clock().now().to_msg()
-        pose.pose.position.x = -0.203
-        pose.pose.position.y = 0.263
-        pose.pose.position.z = 0.559
-        pose.pose.orientation.x = -0.2734
-        pose.pose.orientation.y = -0.4930
-        pose.pose.orientation.z = -0.6086
-        pose.pose.orientation.w = 0.5584
-        msg.poses = [pose]  # Add the pose to the message
-        # { -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 }
-        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(0.006, -0.009, -0.018, 1.0) (https://quaternions.online/)
-        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(0.5637225, -0.0006527, -0.7832093, 0.2622969) (https://www.andre-gaschler.com/rotationconverter/)
-        # Euler_XYZ(0.68, -1.083, -2.076) = Quaternion_XYZW(−0.2734,−0.4930,−0.6086,0.5584) (ChatGPT)
-        
-        # Set joint positions
-        # msg.joint_positions = [0.51, 0.52, 0.53, 0.54, 0.55, 0.56]
-        
-        # Publish the message
-        self.publisher_.publish(msg)
-        self.get_logger().info(f'Publishing: {msg}')
-
-def main(args=None):
-    rclpy.init(args=args)
-    dummy_publisher = DummyPublisher()
-    
-    # rclpy.spin(dummy_publisher) # Spin to keep the node active and publishing messages
-    rclpy.spin_once(dummy_publisher)  # Only spin once to call publish_message()
-
-    # Clean up at the end
-    dummy_publisher.destroy_node()
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()
diff --git a/ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp b/ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
deleted file mode 100644
index 54e7ca9ea..000000000
--- a/ur_robot_motion_primitives_driver/test/test_motion_primitives_ur_driver.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// #include <gmock/gmock.h>
-
-// #include <string>
-
-// #include "hardware_interface/resource_manager.hpp"
-// #include "ros2_control_test_assets/components_urdfs.hpp"
-// #include "ros2_control_test_assets/descriptions.hpp"
-
-// class TestMotionPrimitivesUrDriver : public ::testing::Test
-// {
-// protected:
-//   void SetUp() override
-//   {
-//     // TODO(anyone): Extend this description to your robot
-//     motion_primitives_ur_driver_2dof_ =
-//       R"(
-//         <ros2_control name="MotionPrimitivesUrDriver2dof" type="system">
-//           <hardware>
-//             <plugin>ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver</plugin>
-//           </hardware>
-//           <joint name="joint1">
-//             <command_interface name="position"/>
-//             <state_interface name="position"/>
-//             <param name="initial_position">1.57</param>
-//           </joint>
-//           <joint name="joint2">
-//             <command_interface name="position"/>
-//             <state_interface name="position"/>
-//             <param name="initial_position">0.7854</param>
-//           </joint>
-//         </ros2_control>
-//     )";
-//   }
-
-//   std::string motion_primitives_ur_driver_2dof_;
-// };
-
-// TEST_F(TestMotionPrimitivesUrDriver, load_motion_primitives_ur_driver_2dof)
-// {
-//   auto urdf = ros2_control_test_assets::urdf_head + motion_primitives_ur_driver_2dof_ +
-//               ros2_control_test_assets::urdf_tail;
-//   ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
-// }
diff --git a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos
deleted file mode 100644
index 1b3910e7e..000000000
--- a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos
deleted file mode 100644
index 1b3910e7e..000000000
--- a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.rolling.upstream.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
deleted file mode 100644
index d600f3c7d..000000000
--- a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="ur_robot_motion_primitives_driver">
-  <class name="ur_robot_motion_primitives_driver/MotionPrimitivesUrDriver"
-         type="ur_robot_motion_primitives_driver::MotionPrimitivesUrDriver"
-         base_class_type="hardware_interface::SystemInterface">
-    <description>
-      ros2_control hardware interface.
-    </description>
-  </class>
-</library>
diff --git a/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver/__init__.py b/ur_robot_motion_primitives_driver/ur_robot_motion_primitives_driver/__init__.py
deleted file mode 100644
index e69de29bb..000000000

From c01db85a8ce1f976b650c0b7a068a3f41e839c71 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 17:18:57 +0200
Subject: [PATCH 26/99] changed namespace from
 ur_robot_motion_primitives_driver to ur_robot_driver

---
 .../ur_robot_driver/motion_primitives_ur_driver.hpp    | 10 +++++-----
 .../include/ur_robot_driver/visibility_control.h       |  6 +++---
 ur_robot_driver/src/motion_primitives_ur_driver.cpp    |  6 +++---
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index 23adcd400..8b24ea10a 100644
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
-#define UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#ifndef UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#define UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
 
 #include <string>
 #include <vector>
@@ -34,7 +34,7 @@
 
 #include "motion_primitives_forward_controller/execution_state.hpp"
 
-namespace ur_robot_motion_primitives_driver
+namespace ur_robot_driver
 {
 class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
 {
@@ -128,6 +128,6 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence_;
 };
 
-}  // namespace ur_robot_motion_primitives_driver
+}  // namespace ur_robot_driver
 
-#endif  // UR_ROBOT_MOTION_PRIMITIVES_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
+#endif  // UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
diff --git a/ur_robot_driver/include/ur_robot_driver/visibility_control.h b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
index a155ebc7b..e3946c399 100644
--- a/ur_robot_driver/include/ur_robot_driver/visibility_control.h
+++ b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
-#define UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
+#ifndef UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_
+#define UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
@@ -46,4 +46,4 @@
 #define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
 #endif
 
-#endif  // UR_ROBOT_MOTION_PRIMITIVES_DRIVER__VISIBILITY_CONTROL_H_
+#endif  // UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 9207b13a2..c9e6e7ace 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -24,7 +24,7 @@
 
 #include "motion_primitives_forward_controller/motion_type.hpp"
 
-namespace ur_robot_motion_primitives_driver
+namespace ur_robot_driver
 {
 
 MotionPrimitivesUrDriver::~MotionPrimitivesUrDriver()
@@ -686,9 +686,9 @@ bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<doub
   }
 }
 
-}  // namespace ur_robot_motion_primitives_driver
+}  // namespace ur_robot_driver
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  ur_robot_motion_primitives_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file
+  ur_robot_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file

From d73b46a299c862c884774e33416a658444f6a505 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Apr 2025 17:21:05 +0200
Subject: [PATCH 27/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 6d06cc5f0..0cd533251 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -39,7 +39,7 @@ ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur
 ### Multiple motion primitives without checking status
 ```
 ~~ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives.py~~
-ros2 run ur_robot_driver send_multiple_dummy_motion_primitives.py
+ros2 run ur_robot_driver send_dummy_motion_primitives.py
 ```
 ## Publish stop motion command 
 ```

From 4d261a8bab200032078de6a81904a4e3e94bb07d Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 09:37:04 +0200
Subject: [PATCH 28/99] removed ur_controllers_motion_primitive.yaml

---
 ur_robot_driver/config/ur_controllers.yaml    |  38 ++++
 .../ur_controllers_motion_primitive.yaml      | 213 ------------------
 .../motion_primitive_controller_ur.launch.py  |   2 +-
 3 files changed, 39 insertions(+), 214 deletions(-)
 delete mode 100644 ur_robot_driver/config/ur_controllers_motion_primitive.yaml

diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 3fc321c01..73a11ee34 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -39,6 +39,9 @@ controller_manager:
     ur_configuration_controller:
       type: ur_controllers/URConfigurationController
 
+    motion_primitive_controller:
+      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
+
 speed_scaling_state_broadcaster:
   ros__parameters:
     state_publish_rate: 100.0
@@ -172,3 +175,38 @@ tcp_pose_broadcaster:
     pose_name: $(var tf_prefix)tcp_pose
     tf:
       child_frame_id: $(var tf_prefix)tool0_controller
+
+
+motion_primitive_controller:
+  ros__parameters:
+    name: motion_primitive
+    command_interfaces:
+      - motion_type
+      - q1
+      - q2
+      - q3
+      - q4
+      - q5
+      - q6
+      - pos_x
+      - pos_y
+      - pos_z
+      - pos_qx
+      - pos_qy
+      - pos_qz
+      - pos_qw
+      - pos_via_x
+      - pos_via_y
+      - pos_via_z
+      - pos_via_qx
+      - pos_via_qy
+      - pos_via_qz
+      - pos_via_qw
+      - blend_radius
+      - velocity
+      - acceleration
+      - move_time
+    state_interfaces:
+      - execution_status
+      - ready_for_new_primitive
+    queue_size: 20    # queue size to buffer incoming commands
\ No newline at end of file
diff --git a/ur_robot_driver/config/ur_controllers_motion_primitive.yaml b/ur_robot_driver/config/ur_controllers_motion_primitive.yaml
deleted file mode 100644
index 279f773c9..000000000
--- a/ur_robot_driver/config/ur_controllers_motion_primitive.yaml
+++ /dev/null
@@ -1,213 +0,0 @@
-controller_manager:
-  ros__parameters:
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    io_and_status_controller:
-      type: ur_controllers/GPIOController
-
-    speed_scaling_state_broadcaster:
-      type: ur_controllers/SpeedScalingStateBroadcaster
-
-    force_torque_sensor_broadcaster:
-      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
-
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    scaled_joint_trajectory_controller:
-      type: ur_controllers/ScaledJointTrajectoryController
-
-    forward_velocity_controller:
-      type: velocity_controllers/JointGroupVelocityController
-
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
-    force_mode_controller:
-      type: ur_controllers/ForceModeController
-
-    freedrive_mode_controller:
-      type: ur_controllers/FreedriveModeController
-
-    passthrough_trajectory_controller:
-      type: ur_controllers/PassthroughTrajectoryController
-
-    tcp_pose_broadcaster:
-      type: pose_broadcaster/PoseBroadcaster
-
-    ur_configuration_controller:
-      type: ur_controllers/URConfigurationController
-
-    motion_primitive_controller:
-      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
-
-speed_scaling_state_broadcaster:
-  ros__parameters:
-    state_publish_rate: 100.0
-    tf_prefix: "$(var tf_prefix)"
-
-io_and_status_controller:
-  ros__parameters:
-    tf_prefix: "$(var tf_prefix)"
-
-ur_configuration_controller:
-  ros__parameters:
-    tf_prefix: "$(var tf_prefix)"
-
-force_torque_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: $(var tf_prefix)tcp_fts_sensor
-    state_interface_names:
-      - force.x
-      - force.y
-      - force.z
-      - torque.x
-      - torque.y
-      - torque.z
-    frame_id: $(var tf_prefix)tool0
-    topic_name: ft_data
-
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - $(var tf_prefix)shoulder_pan_joint
-      - $(var tf_prefix)shoulder_lift_joint
-      - $(var tf_prefix)elbow_joint
-      - $(var tf_prefix)wrist_1_joint
-      - $(var tf_prefix)wrist_2_joint
-      - $(var tf_prefix)wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.2
-      goal_time: 0.0
-      $(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-
-
-scaled_joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - $(var tf_prefix)shoulder_pan_joint
-      - $(var tf_prefix)shoulder_lift_joint
-      - $(var tf_prefix)elbow_joint
-      - $(var tf_prefix)wrist_1_joint
-      - $(var tf_prefix)wrist_2_joint
-      - $(var tf_prefix)wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.2
-      goal_time: 0.0
-      $(var tf_prefix)shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)elbow_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-      $(var tf_prefix)wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-    speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
-
-passthrough_trajectory_controller:
-  ros__parameters:
-    tf_prefix: "$(var tf_prefix)"
-    joints:
-      - $(var tf_prefix)shoulder_pan_joint
-      - $(var tf_prefix)shoulder_lift_joint
-      - $(var tf_prefix)elbow_joint
-      - $(var tf_prefix)wrist_1_joint
-      - $(var tf_prefix)wrist_2_joint
-      - $(var tf_prefix)wrist_3_joint
-    state_interfaces:
-      - position
-      - velocity
-    speed_scaling_interface_name: $(var tf_prefix)speed_scaling/speed_scaling_factor
-
-forward_velocity_controller:
-  ros__parameters:
-    joints:
-      - $(var tf_prefix)shoulder_pan_joint
-      - $(var tf_prefix)shoulder_lift_joint
-      - $(var tf_prefix)elbow_joint
-      - $(var tf_prefix)wrist_1_joint
-      - $(var tf_prefix)wrist_2_joint
-      - $(var tf_prefix)wrist_3_joint
-    interface_name: velocity
-
-forward_position_controller:
-  ros__parameters:
-    joints:
-      - $(var tf_prefix)shoulder_pan_joint
-      - $(var tf_prefix)shoulder_lift_joint
-      - $(var tf_prefix)elbow_joint
-      - $(var tf_prefix)wrist_1_joint
-      - $(var tf_prefix)wrist_2_joint
-      - $(var tf_prefix)wrist_3_joint
-
-force_mode_controller:
-  ros__parameters:
-    tf_prefix: "$(var tf_prefix)"
-
-freedrive_mode_controller:
-  ros__parameters:
-    tf_prefix: "$(var tf_prefix)"
-
-tcp_pose_broadcaster:
-  ros__parameters:
-    frame_id: $(var tf_prefix)base
-    pose_name: $(var tf_prefix)tcp_pose
-    tf:
-      child_frame_id: $(var tf_prefix)tool0_controller
-
-
-
-motion_primitive_controller:
-  ros__parameters:
-    name: motion_primitive
-    command_interfaces:
-      - motion_type
-      - q1
-      - q2
-      - q3
-      - q4
-      - q5
-      - q6
-      - pos_x
-      - pos_y
-      - pos_z
-      - pos_qx
-      - pos_qy
-      - pos_qz
-      - pos_qw
-      - pos_via_x
-      - pos_via_y
-      - pos_via_z
-      - pos_via_qx
-      - pos_via_qy
-      - pos_via_qz
-      - pos_via_qw
-      - blend_radius
-      - velocity
-      - acceleration
-      - move_time
-    state_interfaces:
-      - execution_status
-      - ready_for_new_primitive
-    queue_size: 20    # queue size to buffer incoming commands
\ No newline at end of file
diff --git a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
index ff745d4ff..5b35db88b 100644
--- a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
@@ -276,7 +276,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "controllers_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_driver"), "config", "ur_controllers_motion_primitive.yaml"]
+                [FindPackageShare("ur_robot_driver"), "config", "ur_controllers.yaml"]
             ),
             description="YAML file with the controllers configuration.",
         )

From eed2cf91b9908a7642c97924d088f5f148d3552c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 12:34:48 +0200
Subject: [PATCH 29/99] removed motion_primitive_ur.urdf.xacro and
 motion_primitive_ur_rsp.launch.py and added if else for driver_type to load
 the right ros2_control.xacro file in ur.urdf.xacro

---
 .../motion_primitive_controller_ur.launch.py  |  12 +-
 .../launch/motion_primitive_ur_rsp.launch.py  | 475 ------------------
 ur_robot_driver/launch/ur_control.launch.py   |  10 +
 ur_robot_driver/launch/ur_rsp.launch.py       |  12 +
 .../motion_primitive_ur.ros2_control.xacro    |   2 +-
 .../urdf/motion_primitive_ur.urdf.xacro       | 106 ----
 ur_robot_driver/urdf/ur.urdf.xacro            |  12 +-
 7 files changed, 45 insertions(+), 584 deletions(-)
 delete mode 100644 ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
 delete mode 100644 ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro

diff --git a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
index 5b35db88b..7cfc39daa 100644
--- a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
@@ -52,6 +52,7 @@ def launch_setup(context):
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
+    driver_type = LaunchConfiguration("driver_type")
     # General arguments
     controllers_file = LaunchConfiguration("controllers_file")
     description_launchfile = LaunchConfiguration("description_launchfile")
@@ -208,6 +209,7 @@ def controller_spawner(controllers, active=True):
         launch_arguments={
             "robot_ip": robot_ip,
             "ur_type": ur_type,
+            "driver_type": driver_type,
         }.items(),
     )
 
@@ -250,6 +252,14 @@ def generate_launch_description():
             "robot_ip", description="IP address by which the robot can be reached."
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "driver_type", 
+            default_value="motion_primitive",
+            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
+            choices=["standard", "motion_primitive"],
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
@@ -285,7 +295,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "description_launchfile",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_driver"), "launch", "motion_primitive_ur_rsp.launch.py"]
+                [FindPackageShare("ur_robot_driver"), "launch", "ur_rsp.launch.py"]
             ),
             description="Launchfile (absolute path) providing the description. "
             "The launchfile has to start a robot_state_publisher node that "
diff --git a/ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py b/ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
deleted file mode 100644
index a3bcdf94d..000000000
--- a/ur_robot_driver/launch/motion_primitive_ur_rsp.launch.py
+++ /dev/null
@@ -1,475 +0,0 @@
-# Copyright (c) 2024 FZI Forschungszentrum Informatik
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#    * Redistributions of source code must retain the above copyright
-#      notice, this list of conditions and the following disclaimer.
-#
-#    * Redistributions in binary form must reproduce the above copyright
-#      notice, this list of conditions and the following disclaimer in the
-#      documentation and/or other materials provided with the distribution.
-#
-#    * Neither the name of the {copyright_holder} nor the names of its
-#      contributors may be used to endorse or promote products derived from
-#      this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-#
-# Author: Felix Exner
-
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from launch_ros.parameter_descriptions import ParameterValue
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import (
-    Command,
-    FindExecutable,
-    LaunchConfiguration,
-    PathJoinSubstitution,
-)
-
-
-def generate_launch_description():
-    ur_type = LaunchConfiguration("ur_type")
-    robot_ip = LaunchConfiguration("robot_ip")
-    safety_limits = LaunchConfiguration("safety_limits")
-    safety_pos_margin = LaunchConfiguration("safety_pos_margin")
-    safety_k_position = LaunchConfiguration("safety_k_position")
-    # General arguments
-    kinematics_params_file = LaunchConfiguration("kinematics_params_file")
-    physical_params_file = LaunchConfiguration("physical_params_file")
-    visual_params_file = LaunchConfiguration("visual_params_file")
-    joint_limit_params_file = LaunchConfiguration("joint_limit_params_file")
-    description_file = LaunchConfiguration("description_file")
-    tf_prefix = LaunchConfiguration("tf_prefix")
-    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
-    mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
-    headless_mode = LaunchConfiguration("headless_mode")
-    use_tool_communication = LaunchConfiguration("use_tool_communication")
-    tool_parity = LaunchConfiguration("tool_parity")
-    tool_baud_rate = LaunchConfiguration("tool_baud_rate")
-    tool_stop_bits = LaunchConfiguration("tool_stop_bits")
-    tool_rx_idle_chars = LaunchConfiguration("tool_rx_idle_chars")
-    tool_tx_idle_chars = LaunchConfiguration("tool_tx_idle_chars")
-    tool_device_name = LaunchConfiguration("tool_device_name")
-    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
-    tool_voltage = LaunchConfiguration("tool_voltage")
-    reverse_ip = LaunchConfiguration("reverse_ip")
-    script_command_port = LaunchConfiguration("script_command_port")
-    reverse_port = LaunchConfiguration("reverse_port")
-    script_sender_port = LaunchConfiguration("script_sender_port")
-    trajectory_port = LaunchConfiguration("trajectory_port")
-
-    script_filename = PathJoinSubstitution(
-        [
-            FindPackageShare("ur_client_library"),
-            "resources",
-            "external_control.urscript",
-        ]
-    )
-    input_recipe_filename = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "resources", "rtde_input_recipe.txt"]
-    )
-    output_recipe_filename = PathJoinSubstitution(
-        [FindPackageShare("ur_robot_driver"), "resources", "rtde_output_recipe.txt"]
-    )
-
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            description_file,
-            " ",
-            "robot_ip:=",
-            robot_ip,
-            " ",
-            "joint_limit_params:=",
-            joint_limit_params_file,
-            " ",
-            "kinematics_params:=",
-            kinematics_params_file,
-            " ",
-            "physical_params:=",
-            physical_params_file,
-            " ",
-            "visual_params:=",
-            visual_params_file,
-            " ",
-            "safety_limits:=",
-            safety_limits,
-            " ",
-            "safety_pos_margin:=",
-            safety_pos_margin,
-            " ",
-            "safety_k_position:=",
-            safety_k_position,
-            " ",
-            "name:=",
-            ur_type,
-            " ",
-            "script_filename:=",
-            script_filename,
-            " ",
-            "input_recipe_filename:=",
-            input_recipe_filename,
-            " ",
-            "output_recipe_filename:=",
-            output_recipe_filename,
-            " ",
-            "tf_prefix:=",
-            tf_prefix,
-            " ",
-            "use_mock_hardware:=",
-            use_mock_hardware,
-            " ",
-            "mock_sensor_commands:=",
-            mock_sensor_commands,
-            " ",
-            "headless_mode:=",
-            headless_mode,
-            " ",
-            "use_tool_communication:=",
-            use_tool_communication,
-            " ",
-            "tool_parity:=",
-            tool_parity,
-            " ",
-            "tool_baud_rate:=",
-            tool_baud_rate,
-            " ",
-            "tool_stop_bits:=",
-            tool_stop_bits,
-            " ",
-            "tool_rx_idle_chars:=",
-            tool_rx_idle_chars,
-            " ",
-            "tool_tx_idle_chars:=",
-            tool_tx_idle_chars,
-            " ",
-            "tool_device_name:=",
-            tool_device_name,
-            " ",
-            "tool_tcp_port:=",
-            tool_tcp_port,
-            " ",
-            "tool_voltage:=",
-            tool_voltage,
-            " ",
-            "reverse_ip:=",
-            reverse_ip,
-            " ",
-            "script_command_port:=",
-            script_command_port,
-            " ",
-            "reverse_port:=",
-            reverse_port,
-            " ",
-            "script_sender_port:=",
-            script_sender_port,
-            " ",
-            "trajectory_port:=",
-            trajectory_port,
-            " ",
-        ]
-    )
-    robot_description = {
-        "robot_description": ParameterValue(robot_description_content, value_type=str)
-    }
-
-    declared_arguments = []
-    # UR specific arguments
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "ur_type",
-            description="Typo/series of used UR robot.",
-            choices=[
-                "ur3",
-                "ur3e",
-                "ur5",
-                "ur5e",
-                "ur10",
-                "ur10e",
-                "ur16e",
-                "ur20",
-                "ur30",
-            ],
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "robot_ip", description="IP address by which the robot can be reached."
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_limits",
-            default_value="true",
-            description="Enables the safety limits controller if true.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_pos_margin",
-            default_value="0.15",
-            description="The margin to lower and upper limits in the safety controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_k_position",
-            default_value="20",
-            description="k-position factor in the safety controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "joint_limit_params_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("ur_description"),
-                    "config",
-                    ur_type,
-                    "joint_limits.yaml",
-                ]
-            ),
-            description="Config file containing the joint limits (e.g. velocities, positions) of the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "kinematics_params_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("ur_description"),
-                    "config",
-                    ur_type,
-                    "default_kinematics.yaml",
-                ]
-            ),
-            description="The calibration configuration of the actual robot used.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "physical_params_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("ur_description"),
-                    "config",
-                    ur_type,
-                    "physical_parameters.yaml",
-                ]
-            ),
-            description="Config file containing the physical parameters (e.g. masses, inertia) of the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "visual_params_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("ur_description"),
-                    "config",
-                    ur_type,
-                    "visual_parameters.yaml",
-                ]
-            ),
-            description="Config file containing the visual parameters (e.g. meshes) of the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "description_file",
-            default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_driver"), "urdf", "motion_primitive_ur.urdf.xacro"]
-            ),
-            description="URDF/XACRO description file with the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tf_prefix",
-            default_value="",
-            description="tf_prefix of the joint names, useful for "
-            "multi-robot setup. If changed, also joint names in the controllers' configuration "
-            "have to be updated.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_mock_hardware",
-            default_value="false",
-            description="Start robot with mock hardware mirroring command to its states.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "mock_sensor_commands",
-            default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. "
-            "Used only if 'use_mock_hardware' parameter is true.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "headless_mode",
-            default_value="false",
-            description="Enable headless mode for robot control",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "initial_joint_controller",
-            default_value="scaled_joint_trajectory_controller",
-            description="Initially loaded robot controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "activate_joint_controller",
-            default_value="true",
-            description="Activate loaded joint controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "launch_dashboard_client",
-            default_value="true",
-            description="Launch Dashboard Client?",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_tool_communication",
-            default_value="false",
-            description="Only available for e series!",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_parity",
-            default_value="0",
-            description="Parity configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_baud_rate",
-            default_value="115200",
-            description="Baud rate configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_stop_bits",
-            default_value="1",
-            description="Stop bits configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_rx_idle_chars",
-            default_value="1.5",
-            description="RX idle chars configuration for serial communication. Only effective, "
-            "if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_tx_idle_chars",
-            default_value="3.5",
-            description="TX idle chars configuration for serial communication. Only effective, "
-            "if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_device_name",
-            default_value="/tmp/ttyUR",
-            description="File descriptor that will be generated for the tool communication device. "
-            "The user has be be allowed to write to this location. "
-            "Only effective, if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_tcp_port",
-            default_value="54321",
-            description="Remote port that will be used for bridging the tool's serial device. "
-            "Only effective, if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_voltage",
-            default_value="0",  # 0 being a conservative value that won't destroy anything
-            description="Tool voltage that will be setup.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "reverse_ip",
-            default_value="0.0.0.0",
-            description="IP that will be used for the robot controller to communicate back to the driver.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "script_command_port",
-            default_value="50004",
-            description="Port that will be opened to forward URScript commands to the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "reverse_port",
-            default_value="50001",
-            description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "script_sender_port",
-            default_value="50002",
-            description="The driver will offer an interface to query the external_control URScript on this port.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "trajectory_port",
-            default_value="50003",
-            description="Port that will be opened for trajectory control.",
-        )
-    )
-
-    return LaunchDescription(
-        declared_arguments
-        + [
-            Node(
-                package="robot_state_publisher",
-                executable="robot_state_publisher",
-                output="both",
-                parameters=[robot_description],
-            ),
-        ]
-    )
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 4c317808b..2fe833b4a 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -52,6 +52,7 @@ def launch_setup(context):
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
+    driver_type = LaunchConfiguration("driver_type")
     # General arguments
     controllers_file = LaunchConfiguration("controllers_file")
     description_launchfile = LaunchConfiguration("description_launchfile")
@@ -206,6 +207,7 @@ def controller_spawner(controllers, active=True):
         launch_arguments={
             "robot_ip": robot_ip,
             "ur_type": ur_type,
+            "driver_type": driver_type,
         }.items(),
     )
 
@@ -248,6 +250,14 @@ def generate_launch_description():
             "robot_ip", description="IP address by which the robot can be reached."
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "driver_type", 
+            default_value="standard",
+            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
+            choices=["standard", "motion_primitive"],
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
diff --git a/ur_robot_driver/launch/ur_rsp.launch.py b/ur_robot_driver/launch/ur_rsp.launch.py
index 375e6adef..462938c79 100644
--- a/ur_robot_driver/launch/ur_rsp.launch.py
+++ b/ur_robot_driver/launch/ur_rsp.launch.py
@@ -46,6 +46,7 @@
 def generate_launch_description():
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
+    driver_type = LaunchConfiguration("driver_type")
     safety_limits = LaunchConfiguration("safety_limits")
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
@@ -96,6 +97,9 @@ def generate_launch_description():
             " ",
             "robot_ip:=",
             robot_ip,
+            " ", 
+            "driver_type:=",
+            driver_type,
             " ",
             "joint_limit_params:=",
             joint_limit_params_file,
@@ -214,6 +218,14 @@ def generate_launch_description():
             "robot_ip", description="IP address by which the robot can be reached."
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "driver_type", 
+            default_value="standard",
+            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
+            choices=["standard", "motion_primitive"],
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
diff --git a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
index 41e3e1087..07ad45f75 100644
--- a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
@@ -5,7 +5,7 @@
   <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur_joint_control.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
 
-  <xacro:macro name="motion_primitive_ur_ros2_control" params="
+  <xacro:macro name="ur_ros2_control" params="
     name
     tf_prefix
     kinematics_parameters_file
diff --git a/ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro b/ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro
deleted file mode 100644
index 06ce08b10..000000000
--- a/ur_robot_driver/urdf/motion_primitive_ur.urdf.xacro
+++ /dev/null
@@ -1,106 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
-  <!-- robot name parameter -->
-  <xacro:arg name="name" default="ur"/>
-
-  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
-  <!-- ros2 control include -->
-  <!-- <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" /> -->
-  <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur.ros2_control.xacro"/>
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
-
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
-  <!-- the default value should raise an error in case this was called without defining the type -->
-  <xacro:arg name="ur_type" default="urXe"/>
-
-  <!-- parameters -->
-  <xacro:arg name="tf_prefix" default="" />
-  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
-  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
-  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
-  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
-  <xacro:arg name="transmission_hw_interface" default=""/>
-  <xacro:arg name="safety_limits" default="false"/>
-  <xacro:arg name="safety_pos_margin" default="0.15"/>
-  <xacro:arg name="safety_k_position" default="20"/>
-  <!-- ros2_control related parameters -->
-  <xacro:arg name="headless_mode" default="false" />
-  <xacro:arg name="robot_ip" default="0.0.0.0" />
-  <xacro:arg name="script_filename" default=""/>
-  <xacro:arg name="output_recipe_filename" default=""/>
-  <xacro:arg name="input_recipe_filename" default=""/>
-  <xacro:arg name="reverse_ip" default="0.0.0.0"/>
-  <xacro:arg name="script_command_port" default="50004"/>
-  <xacro:arg name="reverse_port" default="50001"/>
-  <xacro:arg name="script_sender_port" default="50002"/>
-  <xacro:arg name="trajectory_port" default="50003"/>
-  <!--   tool communication related parameters-->
-  <xacro:arg name="use_tool_communication" default="false" />
-  <xacro:arg name="tool_voltage" default="0" />
-  <xacro:arg name="tool_parity" default="0" />
-  <xacro:arg name="tool_baud_rate" default="115200" />
-  <xacro:arg name="tool_stop_bits" default="1" />
-  <xacro:arg name="tool_rx_idle_chars" default="1.5" />
-  <xacro:arg name="tool_tx_idle_chars" default="3.5" />
-  <xacro:arg name="tool_device_name" default="/tmp/ttyUR" />
-  <xacro:arg name="tool_tcp_port" default="54321" />
-
-    <!-- Simulation parameters -->
-  <xacro:arg name="use_mock_hardware" default="false" />
-  <xacro:arg name="mock_sensor_commands" default="false" />
-  <xacro:arg name="simulation_controllers" default="" />
-
-  <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
-  <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
-
-  <!-- convert to property to use substitution in function -->
-  <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
-
-  <!-- create link fixed to the "world" -->
-  <link name="world" />
-
-  <xacro:ur_robot
-    name="$(arg name)"
-    tf_prefix="$(arg tf_prefix)"
-    parent="world"
-    joint_limits_parameters_file="$(arg joint_limit_params)"
-    kinematics_parameters_file="$(arg kinematics_params)"
-    physical_parameters_file="$(arg physical_params)"
-    visual_parameters_file="$(arg visual_params)"
-    safety_limits="$(arg safety_limits)"
-    safety_pos_margin="$(arg safety_pos_margin)"
-    safety_k_position="$(arg safety_k_position)"
-    >
-     <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
-  </xacro:ur_robot>
-
-  <!-- ros2 control instance -->
-  <xacro:motion_primitive_ur_ros2_control
-    name="$(arg name)"
-    tf_prefix="$(arg tf_prefix)"
-    kinematics_parameters_file="$(arg kinematics_params)"
-    transmission_hw_interface="$(arg transmission_hw_interface)"
-    use_mock_hardware="$(arg use_mock_hardware)"
-    mock_sensor_commands="$(arg mock_sensor_commands)"
-    headless_mode="$(arg headless_mode)"
-    initial_positions="${xacro.load_yaml(initial_positions_file)}"
-    use_tool_communication="$(arg use_tool_communication)"
-    tool_voltage="$(arg tool_voltage)"
-    tool_parity="$(arg tool_parity)"
-    tool_baud_rate="$(arg tool_baud_rate)"
-    tool_stop_bits="$(arg tool_stop_bits)"
-    tool_rx_idle_chars="$(arg tool_rx_idle_chars)"
-    tool_tx_idle_chars="$(arg tool_tx_idle_chars)"
-    tool_device_name="$(arg tool_device_name)"
-    tool_tcp_port="$(arg tool_tcp_port)"
-    robot_ip="$(arg robot_ip)"
-    script_filename="$(arg script_filename)"
-    output_recipe_filename="$(arg output_recipe_filename)"
-    input_recipe_filename="$(arg input_recipe_filename)"
-    reverse_ip="$(arg reverse_ip)"
-    script_command_port="$(arg script_command_port)"
-    reverse_port="$(arg reverse_port)"
-    script_sender_port="$(arg script_sender_port)"
-    trajectory_port="$(arg trajectory_port)"
-  />
-</robot>
diff --git a/ur_robot_driver/urdf/ur.urdf.xacro b/ur_robot_driver/urdf/ur.urdf.xacro
index d72a573e4..e8f598d14 100644
--- a/ur_robot_driver/urdf/ur.urdf.xacro
+++ b/ur_robot_driver/urdf/ur.urdf.xacro
@@ -3,9 +3,19 @@
   <!-- robot name parameter -->
   <xacro:arg name="name" default="ur"/>
 
+  <xacro:arg name="driver_type" default="standard" />
+
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
   <!-- ros2 control include -->
-  <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
+  <xacro:property name="driver_type" value="$(arg driver_type)" />
+  <xacro:if value="${driver_type == 'standard'}">
+    <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
+  </xacro:if>
+  <xacro:if value="${driver_type == 'motion_primitive'}">
+    <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur.ros2_control.xacro" />
+  </xacro:if>
+
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
 
   <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->

From 443031e183e7779a0ab40d321c65f5863200127c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 12:40:19 +0200
Subject: [PATCH 30/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 23 ++++-------------------
 1 file changed, 4 insertions(+), 19 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 0cd533251..fcb3ebbc9 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -7,38 +7,23 @@ Driver package to control ur robot using motion primitives like MOVEJ (PTP), MOV
 
 # Other packages needed
 - [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library)
-- ~~[industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces)~~
-- [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
-- ~~[motion_primitives_controller_pkg](https://github.com/mathias31415/ros2_motion_primitives_controller_pkg)~~
+- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
-- ~~[Universal_Robots_ROS2_Driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver)~~
-- [Universal_Robots_ROS2_Driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
-- ~~[Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)~~
+- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
  
 
 # Notes
-## (Launch ur driver without motion_primitives_ur_driver)
+## Launch "normal" ur driver
 ```
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
 ```
 ## Launch motion_primitives_ur_driver
 ```
-~~ros2 launch ur_robot_motion_primitives_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true~~
 ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
 ```
 ## Publish dummy commands
-### Single motion primitive
 ```
-~~ros2 run ur_robot_motion_primitives_driver send_single_dummy_motion_primitive.py~~
-```
-### Multiple motion primitives after checking status=2 (success)
-```
-~~ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives_after_checking_status.py~~
-```
-### Multiple motion primitives without checking status
-```
-~~ros2 run ur_robot_motion_primitives_driver send_multiple_dummy_motion_primitives.py~~
 ros2 run ur_robot_driver send_dummy_motion_primitives.py
 ```
 ## Publish stop motion command 
@@ -61,7 +46,7 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 # TODO's
 - if trajectory is finished while instruction_executer->cancelMotion() is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call instruction_executer->cancelMotion() a second time
 
-## Useful sources
+# Useful sources
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
 - ...
\ No newline at end of file

From 5e2a1b2d906fac67b02e262e6c83a4f43a03d7aa Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 12:44:36 +0200
Subject: [PATCH 31/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index fcb3ebbc9..45136489a 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -44,7 +44,8 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 
 
 # TODO's
-- if trajectory is finished while instruction_executer->cancelMotion() is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call instruction_executer->cancelMotion() a second time
+- if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
+- for the motion primitive driver `ur_joint_control.xacro` without command interfaces is needed: `motion_primitive_ur_joint_control.xacro` --> is there a better way than a copy of the file with commented command interfaces?
 
 # Useful sources
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html

From d34dabf445d5be29349d2e85038875a14f33fea0 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 13:33:18 +0200
Subject: [PATCH 32/99] changed THIS_PACKAGE_INCLUDE_DEPENDS

---
 ur_robot_driver/CMakeLists.txt | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 10e547d6e..36253c0f9 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -52,6 +52,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   ur_client_library
   ur_dashboard_msgs
   ur_msgs
+  motion_primitives_forward_controller
 )
 
 add_library(ur_robot_driver_plugin
@@ -88,17 +89,13 @@ ament_target_dependencies(
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
-# TODO(mathias31415): wie bei ur_robot_driver_plugin machen?
+
 ament_target_dependencies(
   ur_robot_motion_primitives_driver_plugin
-  hardware_interface
-  rclcpp
-  rclcpp_lifecycle
-  motion_primitives_forward_controller
-  ur_client_library
-  tf2
-  tf2_geometry_msgs
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
+
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)
 
 pluginlib_export_plugin_description_file(hardware_interface motion_primitive_hardware_interface_plugin.xml)

From a98068661973ee735b17586468ddef8ef69cdcd0 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 13:34:51 +0200
Subject: [PATCH 33/99] chenaged/ semoved some comments

---
 .../examples/send_dummy_motion_primitives.py        | 13 ++++---------
 .../ur_robot_driver/stateinterface_helper.hpp       |  4 ++--
 ur_robot_driver/src/hardware_interface.cpp          |  4 ++--
 ur_robot_driver/src/motion_primitives_ur_driver.cpp | 12 ++----------
 4 files changed, 10 insertions(+), 23 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives.py b/ur_robot_driver/examples/send_dummy_motion_primitives.py
index 89c82a367..273e552a4 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives.py
@@ -6,7 +6,7 @@
 from geometry_msgs.msg import PoseStamped
 from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
 
-# 4 Motion primitives aus: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
+# Motion primitives from: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
 msg_moveJ_1 = MotionPrimitive()
 msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
 msg_moveJ_1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
@@ -56,15 +56,14 @@
 pose_L2.pose.orientation.w = 0.5584
 msg_moveL_2.poses = [pose_L2]
 
-# CIRC Befehl nicht unterstützt --> triggert motion sequence
 msg_moveC_1 = MotionPrimitive()
 msg_moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
 msg_moveC_1.blend_radius = 0.0
 msg_moveC_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=0.5),
     MotionArgument(argument_name="acceleration", argument_value=0.1)]
-# urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via (Zwischenpose)
-# urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target (Zielpose)
+# urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via_pose
+# urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target_pose
 pose_C1_via = PoseStamped()
 pose_C1_via.pose.position.x = -0.150
 pose_C1_via.pose.position.y = 0.350
@@ -93,14 +92,11 @@ class MotionPublisher(Node):
     def __init__(self):
         super().__init__('motion_publisher')
 
-        # Publisher für MotionPrimitive-Nachrichten
         self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
 
-        # Nachrichten vorbereiten
         self.messages = [msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_end_sequence, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_end_sequence, msg_moveJ_1, msg_moveJ_2]
         self.get_logger().info(f"Number of messages: {len(self.messages)}")
 
-        # Alle Nachrichten direkt senden
         self.send_all_messages()
     
 
@@ -111,11 +107,10 @@ def send_all_messages(self):
             self.publisher_.publish(msg)
             self.get_logger().info(f"Sent message {i + 1}: {msg}")
 
-
 def main(args=None):
     rclpy.init(args=args)
     node = MotionPublisher()
-    rclpy.spin_once(node, timeout_sec=1)  # Kurzes Warten, um Nachrichten zu senden
+    rclpy.spin_once(node, timeout_sec=1) 
 
     # Cleanup
     node.destroy_node()
diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
index e5bd2020b..c48a1e990 100644
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
@@ -138,7 +138,7 @@ class URStateHelper
         readData(data_pkg, "runtime_state", runtime_state_);
         readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
         readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-        readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
+        readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
         readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
         readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
         readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
@@ -151,7 +151,7 @@ class URStateHelper
         readData(data_pkg, "tool_temperature", tool_temperature_);
         readData(data_pkg, "robot_mode", robot_mode_);
         readData(data_pkg, "safety_mode", safety_mode_);
-        readData(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
+        readData(data_pkg, "tcp_offset", tcp_offset_);
 
         readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
         readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index a80c1cf3e..2f18d7883 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -710,7 +710,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // readData(data_pkg, "runtime_state", runtime_state_);
     // readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
     // readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    // readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_); //TODO(mathias31415) kam hinzu
+    // readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
     // readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
     // readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
     // readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
@@ -729,7 +729,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     // readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
     // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
     // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-    // readData(data_pkg, "tcp_offset", tcp_offset_); // TODO(mathias31415) kam hinzu
+    // readData(data_pkg, "tcp_offset", tcp_offset_);
 
     // required transforms
     // extractToolPose();
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index c9e6e7ace..7e2da1033 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -64,7 +64,6 @@ hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(
   rtde_comm_has_been_started_ = false;
 
   // Resize hardware state and command vectors, initializing them with NaN values.
-  // TODO (mathias31415): is there a better way than hardcoding the size of the vectors? --> read the number of state and command interfaces somehow?
   hw_mo_prim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());     // execution_status, ready_for_new_primitive
   hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());  // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
 
@@ -420,12 +419,8 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
   if (command.empty() || std::isnan(command[0])) {
     return;
   }
-
-  double motion_type = command[0];
-  
-  double velocity, acceleration, move_time; 
-
-  // TODO (mathias31415): check if nan needs to be handeled
+  double velocity, acceleration, move_time;
+  double motion_type = command[0]; 
   double blend_radius = command[21];
 
   try {
@@ -597,10 +592,8 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " success: %d", success);
           if(success){
             ready_for_new_primitive_ = true; // set to true to allow sending new commands
-            RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "ready_for_new_primitive_ = true");
           }
           return;
         }
@@ -625,7 +618,6 @@ void MotionPrimitivesUrDriver::handleRobotProgramState(bool program_running)
   robot_program_running_ = program_running;
 }
 
-// TODO (mathias31415): check if this is correct with known values (XYZ-Order?)
 // Convert quaternion to Euler angles (roll, pitch, yaw) 
 // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
 void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz) {

From 3b2cddb4fbec0d27d60e04ce632bbae361f3ef90 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 10 Apr 2025 17:05:26 +0200
Subject: [PATCH 34/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md     |  62 +++++++++++++++++-
 ...imitiveExecutionWithHelperTypes.drawio.png | Bin 0 -> 73408 bytes
 ...s2_control_motion_primitives_ur.drawio.png | Bin 0 -> 458182 bytes
 3 files changed, 59 insertions(+), 3 deletions(-)
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 45136489a..bed5aa233 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -1,19 +1,75 @@
 ur_robot_motion_primitives_driver
 ==========================================
 
-Driver package to control ur robot using motion primitives like MOVEJ (PTP), MOVEL (LIN) and MOVEC (CIRC)
+Driver package to control ur robot using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC)
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
-# Other packages needed
+# Related packages/ repos
 - [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library)
 - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
  
+# Motion Primitives UR Driver
 
-# Notes
+This repository provides a hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear, circular, and joint-based motion commands asynchronously and supports motion sequences for smooth trajectory execution.
+
+## Architecture
+
+![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png)
+
+## Overview
+
+## Overview
+
+In contrast to the standard UR hardware interface, this driver does not compute or execute trajectories on the ROS 2 side. Instead, it passes high-level motion primitives directly to the robot controller, which then computes and executes the trajectory internally.
+
+This approach offers two key advantages:
+
+- **Reduced real-time requirements** on the ROS 2 side, since trajectory planning and execution are offloaded to the robot.
+- **Improved motion quality**, as the robot controller has better knowledge of the robot's kinematics and dynamics, leading to more optimized and accurate motion execution.
+
+
+### Supported Motion Primitives
+
+- `LINEAR_JOINT` (PTP / MOVEJ)
+- `LINEAR_CARTESIAN` (LIN / MOVEL)
+- `CIRCULAR_CARTESIAN` (CIRC / MOVEC)
+- `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END` for motion sequences
+
+Using motion sequences enables blending between multiple primitives for smoother motion profiles.
+
+![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png)
+
+## write() Method
+
+The `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:
+
+1. If the command is `STOP_MOTION`, a flag is set which leads to interrupting the current motion inside the `asyncStopMotionThread()`.
+2. For other commands, they are passed to the `asyncCommandThread()` and executed asynchronously.
+
+Threading is required since calls to the Instruction Executor are blocking. Offloading these to separate threads ensures the control loop remains responsive during motion execution. The stopping functionality is also threaded to allow interrupting a primitive even during execution or in a motion sequence.
+
+## read() Method
+
+The `read()` method:
+
+- Publishes the `execution_status` over a state interface with possible values: `IDLE`, `EXECUTING`, `SUCCESS`, `ERROR`.
+- Publishes `ready_for_new_primitive` over a state interface to signal whether the interface is ready to receive a new primitive.
+- Handles additional state interfaces adopted from the UR driver, such as joint states, enabling RViz to visualize the current robot pose.
+
+## UR Driver Conflict
+
+The standard UR hardware interface cannot run in parallel with this motion primitives interface due to connection conflicts. To resolve this:
+
+- The state interface functionality from the UR hardware interface was refactored into a helper header: `ur_state_helper.hpp`.
+- This helper enables code reuse between the standard hardware interface and the `motion_primitives_ur_driver`, ensuring robot state data is still available.
+
+
+
+# Usage notes
 ## Launch "normal" ur driver
 ```
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png b/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png
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From 72ec14f950b0942d24de0b2a7cb73e88cb7b6513 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 08:33:09 +0200
Subject: [PATCH 35/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 65 ++++++++++++++++-------
 1 file changed, 47 insertions(+), 18 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index bed5aa233..6cece99f1 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -1,7 +1,7 @@
-ur_robot_motion_primitives_driver
+motion_primitives_ur_driver
 ==========================================
 
-Driver package to control ur robot using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC)
+Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN LIN/ MOVEL), circular (CIRCULAR_CARTESIAN, CIRC/ MOVEC), and joint-based (LINEAR_JOINT, PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
@@ -12,37 +12,66 @@ Driver package to control ur robot using motion primitives like LINEAR_JOINT (PT
 - [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
  
-# Motion Primitives UR Driver
 
-This repository provides a hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear, circular, and joint-based motion commands asynchronously and supports motion sequences for smooth trajectory execution.
-
-## Architecture
+# Architecture
 
 ![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png)
 
-## Overview
+# Command and State Interfaces
 
-## Overview
+The `motion_primitives_ur_driver` hardware interface defines a set of **command interfaces** and **state interfaces** used for communication between the controller and the robot hardware.
 
-In contrast to the standard UR hardware interface, this driver does not compute or execute trajectories on the ROS 2 side. Instead, it passes high-level motion primitives directly to the robot controller, which then computes and executes the trajectory internally.
+## Command Interfaces
 
-This approach offers two key advantages:
+These interfaces are used to send motion primitive data to the hardware interface:
 
-- **Reduced real-time requirements** on the ROS 2 side, since trajectory planning and execution are offloaded to the robot.
-- **Improved motion quality**, as the robot controller has better knowledge of the robot's kinematics and dynamics, leading to more optimized and accurate motion execution.
+- `motion_type`: Type of motion primitive (e.g., LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN, etc.)
+- `q1` – `q6`: Target joint positions for joint-based motion
+- `pos_x`, `pos_y`, `pos_z`: Target Cartesian position
+- `pos_qx`, `pos_qy`, `pos_qz`, `pos_qw`: Orientation quaternion of the target pose
+- `pos_via_x`, `pos_via_y`, `pos_via_z`: Intermediate via-point position for circular motion
+- `pos_via_qx`, `pos_via_qy`, `pos_via_qz`, `pos_via_qw`: Orientation quaternion of via-point
+- `blend_radius`: Blending radius for smooth transitions
+- `velocity`: Desired motion velocity
+- `acceleration`: Desired motion acceleration
+- `move_time`: Optional duration for time-based execution (For LINEAR_JOINT and LINEAR_CARTESIAN. If move_time > 0, velocity and acceleration are ignored)
 
+## State Interfaces
 
-### Supported Motion Primitives
+These interfaces are used to communicate the internal status of the hardware interface back to the controller:
 
-- `LINEAR_JOINT` (PTP / MOVEJ)
-- `LINEAR_CARTESIAN` (LIN / MOVEL)
-- `CIRCULAR_CARTESIAN` (CIRC / MOVEC)
-- `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END` for motion sequences
+- `execution_status`: Indicates the current execution state of the primitive. Possible values are:
+  - `IDLE`: No motion in progress
+  - `EXECUTING`: Currently executing a primitive
+  - `SUCCESS`: Last command finished successfully
+  - `ERROR`: An error occurred during execution
+- `ready_for_new_primitive`: Boolean flag indicating whether the interface is ready to receive a new motion primitive
 
-Using motion sequences enables blending between multiple primitives for smoother motion profiles.
+In addition to these, the driver also provides all standard state interfaces from the original UR hardware interface (e.g., joint positions, velocities). These are used by components like the `joint_state_broadcaster` and allow tools like RViz to visualize the current robot state.
+
+
+# Supported Motion Primitives
+
+- Support for basic motion primitives:
+  - `LINEAR_JOINT`
+  - `LINEAR_CARTESIAN`
+  - `CIRCULAR_CARTESIAN`
+- Additional helper types:
+  - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue.
+  - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives.
 
 ![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png)
 
+# Overview
+
+In contrast to the standard UR hardware interface, this driver does not compute or execute trajectories on the ROS 2 side. Instead, it passes high-level motion primitives directly to the robot controller, which then computes and executes the trajectory internally.
+
+This approach offers two key advantages:
+
+- **Reduced real-time requirements** on the ROS 2 side, since trajectory planning and execution are offloaded to the robot.
+- **Improved motion quality**, as the robot controller has better knowledge of the robot's kinematics and dynamics, leading to more optimized and accurate motion execution.
+
+
 ## write() Method
 
 The `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:

From 722908fc33e76dcc1edd1b9b897cc4055c5ff3f8 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 08:41:56 +0200
Subject: [PATCH 36/99] changed images in readme to white background

---
 ur_robot_driver/README_MotionPrimitive.md      |   4 ++--
 ...nWithHelperTypes_whiteBackground.drawio.png | Bin 0 -> 75174 bytes
 ...on_primitives_ur_whiteBackground.drawio.png | Bin 0 -> 441153 bytes
 3 files changed, 2 insertions(+), 2 deletions(-)
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur_whiteBackground.drawio.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 6cece99f1..a123639dc 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -15,7 +15,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 # Architecture
 
-![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png)
+![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur_whiteBackground.drawio.png)
 
 # Command and State Interfaces
 
@@ -60,7 +60,7 @@ In addition to these, the driver also provides all standard state interfaces fro
   - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue.
   - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives.
 
-![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png)
+![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png)
 
 # Overview
 
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png b/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png
new file mode 100644
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z^|P}3%ewmz<n4ZLm&&CkPPSCu74gFxNrz#jMR$X{PXU#C;Y+K3{0=PGh&m(5;qQ5;
z>$J`2T?Q@Hjr2<A?xiMNST9>gti`F;p9zyryX?WqoOY`Z(sB1WbTzUv90HS`i;rg-
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Ug4s-;0sPZFbw;aL!{O@x01dtb?f?J)

literal 0
HcmV?d00001


From 9de677ac9cd874f1146559bc3a315ee0128784c8 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 09:56:17 +0200
Subject: [PATCH 37/99] edited Related packages/ repos in readme

---
 ur_robot_driver/README_MotionPrimitive.md | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index a123639dc..d54f22588 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -6,10 +6,9 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
 # Related packages/ repos
-- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library)
 - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
-- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
-- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
+- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
+- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
  
 

From c782a7f10e09292699df58ebab1c0524dd4c5b01 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 11:50:08 +0200
Subject: [PATCH 38/99] moved quaternion definition to
 stateinterface_helper.hpp

---
 .../ur_robot_driver/hardware_interface.hpp    |  1 -
 .../include/ur_robot_driver/quaternion.hpp    | 71 -------------------
 .../ur_robot_driver/stateinterface_helper.hpp | 24 ++++++-
 3 files changed, 23 insertions(+), 73 deletions(-)
 delete mode 100644 ur_robot_driver/include/ur_robot_driver/quaternion.hpp

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 22d626de7..35c2d994d 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -65,7 +65,6 @@
 
 // Helper class to outsource state interface stuff
 #include "ur_robot_driver/stateinterface_helper.hpp"
-#include "ur_robot_driver/quaternion.hpp"
 
 namespace ur_robot_driver
 {
diff --git a/ur_robot_driver/include/ur_robot_driver/quaternion.hpp b/ur_robot_driver/include/ur_robot_driver/quaternion.hpp
deleted file mode 100644
index feae8a9a1..000000000
--- a/ur_robot_driver/include/ur_robot_driver/quaternion.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-// Copyright 2019 FZI Forschungszentrum Informatik
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-//----------------------------------------------------------------------
-/*!\file
- *
- * \author  Lovro Ivanov lovro.ivanov@gmail.com
- * \author  Andy Zelenak zelenak@picknik.ai
- * \author  Marvin Große Besselmann grosse@fzi.de
- * \date    2019-04-11
- *
- */
-//----------------------------------------------------------------------
-#ifndef UR_ROBOT_DRIVER__QUATERNION_HPP_
-#define UR_ROBOT_DRIVER__QUATERNION_HPP_
-
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-
-namespace ur_robot_driver
-{
-// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
-// interfaces.
-struct Quaternion
-{
-  Quaternion() : x(0), y(0), z(0), w(0)
-  {
-  }
-
-  void set(const tf2::Quaternion& q)
-  {
-    x = q.x();
-    y = q.y();
-    z = q.z();
-    w = q.w();
-  }
-
-  double x;
-  double y;
-  double z;
-  double w;
-};
-
-
-}  // namespace ur_robot_driver
-
-#endif  // UR_ROBOT_DRIVER__QUATERNION_HPP_
diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
index c48a1e990..119464fe8 100644
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
@@ -1,9 +1,9 @@
 #pragma once
 
-#include "ur_robot_driver/quaternion.hpp"
 #include <bitset>
 #include <vector>
 #include <array>
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace rtde = urcl::rtde_interface;
 
@@ -16,6 +16,28 @@ enum class PausingState
     RUNNING,
     RAMPUP
 };
+
+// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
+// interfaces.
+struct Quaternion
+{
+  Quaternion() : x(0), y(0), z(0), w(0)
+  {
+  }
+
+  void set(const tf2::Quaternion& q)
+  {
+    x = q.x();
+    y = q.y();
+    z = q.z();
+    w = q.w();
+  }
+
+  double x;
+  double y;
+  double z;
+  double w;
+};
       
 
 class URStateHelper

From 66c0cf7aab8d6eeb38d34c1f07d70d7e4842f9bd Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 12:13:25 +0200
Subject: [PATCH 39/99] added/ modified copyright headers

---
 .../examples/send_dummy_motion_primitives.py  | 16 ++++++++
 .../ur_robot_driver/hardware_interface.hpp    |  3 ++
 .../motion_primitives_ur_driver.hpp           |  6 ++-
 .../ur_robot_driver/stateinterface_helper.hpp | 41 +++++++++++++++++++
 .../ur_robot_driver/visibility_control.h      |  2 +-
 .../motion_primitive_controller_ur.launch.py  |  2 +
 ur_robot_driver/src/hardware_interface.cpp    |  3 ++
 .../src/motion_primitives_ur_driver.cpp       |  7 +++-
 8 files changed, 75 insertions(+), 5 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives.py b/ur_robot_driver/examples/send_dummy_motion_primitives.py
index 273e552a4..d8134b28c 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives.py
@@ -1,5 +1,21 @@
 #!/usr/bin/env python3
 
+# Copyright (c) 2025, b»robotized
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Mathias Fuhrer
+
 import rclpy
 from rclpy.node import Node
 from std_msgs.msg import Int8
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 35c2d994d..85718c164 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -34,6 +34,9 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2019-04-11
  *
+ * \author  Mathias Fuhrer
+ * \date    2025-04-11
+ *
  */
 //----------------------------------------------------------------------
 #ifndef UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index 8b24ea10a..aa7825e5c 100644
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -1,5 +1,5 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
+// Copyright (c) 2025, b»robotized
+// 
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
@@ -11,6 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+//
+// Authors: Mathias Fuhrer
 
 #ifndef UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
 #define UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
index 119464fe8..31ec35f06 100644
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
@@ -1,3 +1,44 @@
+// Copyright 2019 FZI Forschungszentrum Informatik
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Lovro Ivanov lovro.ivanov@gmail.com
+ * \author  Andy Zelenak zelenak@picknik.ai
+ * \author  Marvin Große Besselmann grosse@fzi.de
+ * \date    2019-04-11
+ *
+ * \author  Mathias Fuhrer
+ * \date    2025-04-11
+ *
+ */
+//----------------------------------------------------------------------
 #pragma once
 
 #include <bitset>
diff --git a/ur_robot_driver/include/ur_robot_driver/visibility_control.h b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
index e3946c399..f53687607 100644
--- a/ur_robot_driver/include/ur_robot_driver/visibility_control.h
+++ b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
@@ -1,4 +1,4 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+// Copyright (c) 2025, b»robotized
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
index 7cfc39daa..f9bb1b22e 100644
--- a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
@@ -28,6 +28,8 @@
 
 #
 # Author: Denis Stogl
+#
+# Author modifications: Mathias Fuhrer
 
 from launch import LaunchDescription
 from launch.actions import (
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 2f18d7883..82fe44425 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -34,6 +34,9 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2020-11-9
  *
+ * \author  Mathias Fuhrer
+ * \date    2025-04-11
+ *
  */
 //----------------------------------------------------------------------
 #include <algorithm>
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 7e2da1033..35f7e9464 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -1,5 +1,6 @@
-// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
-//
+// Copyright (c) 2025, b»robotized
+
+// 
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
@@ -11,6 +12,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+//
+// Authors: Mathias Fuhrer
 
 #include <limits>
 #include <vector>

From 04d794b40c832f4b0f1b6c854c549b37b00ad44e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 11 Apr 2025 12:24:25 +0200
Subject: [PATCH 40/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index d54f22588..210c2f0d2 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -1,7 +1,7 @@
 motion_primitives_ur_driver
 ==========================================
 
-Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN LIN/ MOVEL), circular (CIRCULAR_CARTESIAN, CIRC/ MOVEC), and joint-based (LINEAR_JOINT, PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
+Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN/ LIN/ MOVEL), circular (CIRCULAR_CARTESIAN/ CIRC/ MOVEC), and joint-based (LINEAR_JOINT/ PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
@@ -76,7 +76,8 @@ This approach offers two key advantages:
 The `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:
 
 1. If the command is `STOP_MOTION`, a flag is set which leads to interrupting the current motion inside the `asyncStopMotionThread()`.
-2. For other commands, they are passed to the `asyncCommandThread()` and executed asynchronously.
+2. For other commands, they are passed to the `asyncCommandThread()` and executed asynchronously. Individual primitives are executed directly via the Instruction Executor.
+If a `MOTION_SEQUENCE_START` command is received, all subsequent primitives are added to a motion sequence. Once `MOTION_SEQUENCE_END` is received, the entire sequence is executed via the Instruction Executor.
 
 Threading is required since calls to the Instruction Executor are blocking. Offloading these to separate threads ensures the control loop remains responsive during motion execution. The stopping functionality is also threaded to allow interrupting a primitive even during execution or in a motion sequence.
 
@@ -132,6 +133,8 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 - for the motion primitive driver `ur_joint_control.xacro` without command interfaces is needed: `motion_primitive_ur_joint_control.xacro` --> is there a better way than a copy of the file with commented command interfaces?
 
 # Useful sources
+- https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture/instruction_executor.html
+- https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
 - ...
\ No newline at end of file

From 1303cf15c51a41492aa36bcc2a2d438f7f318505 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 24 Apr 2025 11:28:11 +0200
Subject: [PATCH 41/99] removed visibility control

---
 .../motion_primitives_ur_driver.hpp           |  9 ----
 .../ur_robot_driver/visibility_control.h      | 49 -------------------
 2 files changed, 58 deletions(-)
 delete mode 100644 ur_robot_driver/include/ur_robot_driver/visibility_control.h

diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index aa7825e5c..360a3fa69 100644
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -21,7 +21,6 @@
 #include <vector>
 #include <memory>
 
-#include "ur_robot_driver/visibility_control.h"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
@@ -43,33 +42,25 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
 public:
   virtual ~MotionPrimitivesUrDriver();
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::return_type read(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
-  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
diff --git a/ur_robot_driver/include/ur_robot_driver/visibility_control.h b/ur_robot_driver/include/ur_robot_driver/visibility_control.h
deleted file mode 100644
index f53687607..000000000
--- a/ur_robot_driver/include/ur_robot_driver/visibility_control.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright (c) 2025, b»robotized
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_
-#define UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-#ifdef __GNUC__
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((dllexport))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __attribute__((dllimport))
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __declspec(dllexport)
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __declspec(dllimport)
-#endif
-#ifdef TEMPLATES__ROS2_CONTROL__VISIBILITY_BUILDING_DLL
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
-#endif
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((visibility("default")))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
-#if __GNUC__ >= 4
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC __attribute__((visibility("default")))
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
-#else
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
-#endif
-#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
-#endif
-
-#endif  // UR_ROBOT_DRIVER__VISIBILITY_CONTROL_H_

From 3987b35ea21e5fca9d90ef536216deadfb53703f Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 5 May 2025 18:02:51 +0200
Subject: [PATCH 42/99] added demo video to readme

---
 ur_robot_driver/README_MotionPrimitive.md      |   5 ++++-
 .../motion_primitive_demo_video_preview.png    | Bin 0 -> 473637 bytes
 2 files changed, 4 insertions(+), 1 deletion(-)
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 210c2f0d2..0d741bf92 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -5,11 +5,14 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
+# Demo Video with URSim
+[![Play Video](doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png)](https://www.youtube.com/watch?v=htUJtfkgr6Q)
+
 # Related packages/ repos
 - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
-- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep)
+- [Universal_Robots_Client_Library](hhttps://github.com/UniversalRobots/Universal_Robots_Client_Library)
  
 
 # Architecture
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png b/ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png
new file mode 100644
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HcmV?d00001


From 68cf02074256e683835cffb5da5465088667064e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 6 May 2025 10:41:23 +0200
Subject: [PATCH 43/99] pre-commit fixes

---
 .../include/ur_calibration/calibration.hpp    |   2 +-
 ur_robot_driver/README_MotionPrimitive.md     |   8 +-
 ur_robot_driver/config/ur_controllers.yaml    |   2 +-
 .../examples/send_dummy_motion_primitives.py  |  70 +-
 .../ur_robot_driver/hardware_interface.hpp    |  83 +--
 .../motion_primitives_ur_driver.hpp           |  65 +-
 .../ur_robot_driver/stateinterface_helper.hpp | 630 +++++++++---------
 .../motion_primitive_controller_ur.launch.py  |  47 +-
 ur_robot_driver/launch/ur_control.launch.py   |   2 +-
 ur_robot_driver/launch/ur_rsp.launch.py       |   4 +-
 ur_robot_driver/src/hardware_interface.cpp    | 326 +--------
 .../src/motion_primitives_ur_driver.cpp       | 436 ++++++------
 .../motion_primitive_ur.ros2_control.xacro    |   2 +-
 13 files changed, 713 insertions(+), 964 deletions(-)

diff --git a/ur_calibration/include/ur_calibration/calibration.hpp b/ur_calibration/include/ur_calibration/calibration.hpp
index 6cfcc3f6b..08ea84528 100644
--- a/ur_calibration/include/ur_calibration/calibration.hpp
+++ b/ur_calibration/include/ur_calibration/calibration.hpp
@@ -44,8 +44,8 @@
 #ifndef UR_CALIBRATION__CALIBRATION_HPP_
 #define UR_CALIBRATION__CALIBRATION_HPP_
 
-#include <cassert>
 #include <Eigen/Dense>
+#include <cassert>
 #include <fstream>
 #include <string>
 #include <vector>
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 0d741bf92..1f90e7f6a 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -12,8 +12,8 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
-- [Universal_Robots_Client_Library](hhttps://github.com/UniversalRobots/Universal_Robots_Client_Library)
- 
+- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)
+
 
 # Architecture
 
@@ -114,7 +114,7 @@ ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur
 ```
 ros2 run ur_robot_driver send_dummy_motion_primitives.py
 ```
-## Publish stop motion command 
+## Publish stop motion command
 ```
 ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 66, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
 
@@ -140,4 +140,4 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 - https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
-- ...
\ No newline at end of file
+- ...
diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 73a11ee34..2d47ee84d 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -209,4 +209,4 @@ motion_primitive_controller:
     state_interfaces:
       - execution_status
       - ready_for_new_primitive
-    queue_size: 20    # queue size to buffer incoming commands
\ No newline at end of file
+    queue_size: 20    # queue size to buffer incoming commands
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives.py b/ur_robot_driver/examples/send_dummy_motion_primitives.py
index d8134b28c..3f995131a 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives.py
@@ -18,25 +18,24 @@
 
 import rclpy
 from rclpy.node import Node
-from std_msgs.msg import Int8
 from geometry_msgs.msg import PoseStamped
 from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
 
 # Motion primitives from: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
 msg_moveJ_1 = MotionPrimitive()
 msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
-msg_moveJ_1.joint_positions = [ -1.57, -1.57, 0, 0, 0, 0]
+msg_moveJ_1.joint_positions = [-1.57, -1.57, 0, 0, 0, 0]
 msg_moveJ_1.blend_radius = 0.1
 msg_moveJ_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=1.0)]
+    MotionArgument(argument_name="acceleration", argument_value=1.0),
+]
 
 msg_moveJ_2 = MotionPrimitive()
 msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
 msg_moveJ_2.blend_radius = 0.1
 msg_moveJ_2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
-msg_moveJ_2.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=2.0)]
+msg_moveJ_2.additional_arguments = [MotionArgument(argument_name="move_time", argument_value=2.0)]
 
 msg_moveL_1 = MotionPrimitive()
 msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
@@ -44,7 +43,8 @@
 msg_moveL_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=2.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=0.0)]
+    MotionArgument(argument_name="move_time", argument_value=0.0),
+]
 pose_L1 = PoseStamped()
 pose_L1.pose.position.x = -0.203
 pose_L1.pose.position.y = 0.263
@@ -61,7 +61,8 @@
 msg_moveL_2.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=1.0),
     MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=2.0)]
+    MotionArgument(argument_name="move_time", argument_value=2.0),
+]
 pose_L2 = PoseStamped()
 pose_L2.pose.position.x = -0.203
 pose_L2.pose.position.y = 0.463
@@ -77,7 +78,8 @@
 msg_moveC_1.blend_radius = 0.0
 msg_moveC_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=0.5),
-    MotionArgument(argument_name="acceleration", argument_value=0.1)]
+    MotionArgument(argument_name="acceleration", argument_value=0.1),
+]
 # urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via_pose
 # urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target_pose
 pose_C1_via = PoseStamped()
@@ -96,7 +98,7 @@
 pose_C1_goal.pose.orientation.y = -0.490
 pose_C1_goal.pose.orientation.z = -0.608
 pose_C1_goal.pose.orientation.w = 0.58155
-msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]    # first pose is goal, second is via point
+msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
 
 msg_start_sequence = MotionPrimitive()
 msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
@@ -104,34 +106,68 @@
 msg_end_sequence = MotionPrimitive()
 msg_end_sequence.type = MotionPrimitive.MOTION_SEQUENCE_END
 
+
 class MotionPublisher(Node):
     def __init__(self):
-        super().__init__('motion_publisher')
-
-        self.publisher_ = self.create_publisher(MotionPrimitive, '/motion_primitive_controller/reference', 10)
+        super().__init__("motion_publisher")
+
+        self.publisher_ = self.create_publisher(
+            MotionPrimitive, "/motion_primitive_controller/reference", 10
+        )
+
+        # self.messages = [
+        #     msg_moveJ_1,
+        #     msg_moveJ_2,
+        #     msg_moveL_1,
+        #     msg_moveL_2,
+        #     msg_moveC_1,
+        #     msg_start_sequence,
+        #     msg_moveJ_1,
+        #     msg_moveJ_2,
+        #     msg_moveL_1,
+        #     msg_moveL_2,
+        #     msg_moveC_1,
+        #     msg_end_sequence,
+        #     msg_start_sequence,
+        #     msg_moveJ_1,
+        #     msg_moveJ_2,
+        #     msg_end_sequence,
+        #     msg_moveJ_1,
+        #     msg_moveJ_2,
+        # ]
+
+        # self.messages = [msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1]
+
+        self.messages = [
+            msg_start_sequence,
+            msg_moveJ_1,
+            msg_moveJ_2,
+            msg_moveL_1,
+            msg_moveL_2,
+            msg_moveC_1,
+            msg_end_sequence,
+        ]
 
-        self.messages = [msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1, msg_end_sequence, msg_start_sequence, msg_moveJ_1, msg_moveJ_2, msg_end_sequence, msg_moveJ_1, msg_moveJ_2]
         self.get_logger().info(f"Number of messages: {len(self.messages)}")
 
         self.send_all_messages()
-    
 
     def send_all_messages(self):
-        """ Sendet alle Nachrichten direkt nacheinander """
         for i, msg in enumerate(self.messages):
             self.get_logger().info(f"Sending message {i + 1} of {len(self.messages)}")
             self.publisher_.publish(msg)
             self.get_logger().info(f"Sent message {i + 1}: {msg}")
 
+
 def main(args=None):
     rclpy.init(args=args)
     node = MotionPublisher()
-    rclpy.spin_once(node, timeout_sec=1) 
+    rclpy.spin_once(node, timeout_sec=1)
 
     # Cleanup
     node.destroy_node()
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 85718c164..fb3721031 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -71,13 +71,6 @@
 
 namespace ur_robot_driver
 {
-// enum class PausingState
-// {
-//   PAUSED,
-//   RUNNING,
-//   RAMPUP
-// };
-
 enum StoppingInterface
 {
   NONE,
@@ -88,28 +81,6 @@ enum StoppingInterface
   STOP_FREEDRIVE,
 };
 
-// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
-// interfaces.
-// struct Quaternion
-// {
-//   Quaternion() : x(0), y(0), z(0), w(0)
-//   {
-//   }
-
-//   void set(const tf2::Quaternion& q)
-//   {
-//     x = q.x();
-//     y = q.y();
-//     z = q.z();
-//     w = q.w();
-//   }
-
-//   double x;
-//   double y;
-//   double z;
-//   double w;
-// };
-
 /*!
  * \brief The HardwareInterface class handles the interface between the ROS system and the main
  * driver. It contains the read and write methods of the main control loop and registers various ROS
@@ -179,40 +150,11 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   urcl::vector6d_t urcl_position_commands_;
   urcl::vector6d_t urcl_position_commands_old_;
   urcl::vector6d_t urcl_velocity_commands_;
-  // urcl::vector6d_t urcl_joint_positions_;
-  // urcl::vector6d_t urcl_joint_velocities_;
-  // urcl::vector6d_t urcl_joint_efforts_;
-  // urcl::vector6d_t urcl_ft_sensor_measurements_;
-  // urcl::vector6d_t urcl_tcp_pose_;
-  // urcl::vector6d_t urcl_target_tcp_pose_;
-  // urcl::vector6d_t tcp_offset_;
-  // tf2::Quaternion tcp_rotation_quat_;
-  // Quaternion tcp_rotation_buffer;
 
   bool packet_read_;
 
-  // uint32_t runtime_state_;
   bool controllers_initialized_;
 
-  // std::bitset<18> actual_dig_out_bits_;
-  // std::bitset<18> actual_dig_in_bits_;
-  // std::array<double, 2> standard_analog_input_;
-  // std::array<double, 2> standard_analog_output_;
-  // std::bitset<4> analog_io_types_;
-  // uint32_t tool_mode_;
-  // std::bitset<2> tool_analog_input_types_;
-  // std::array<double, 2> tool_analog_input_;
-  // int32_t tool_output_voltage_;
-  // double tool_output_current_;
-  // double tool_temperature_;
-  // double speed_scaling_;
-  // double target_speed_fraction_;
-  // double speed_scaling_combined_;
-  // int32_t robot_mode_;
-  // int32_t safety_mode_;
-  // std::bitset<4> robot_status_bits_;
-  // std::bitset<11> safety_status_bits_;
-
   // asynchronous commands
   std::array<double, 18> standard_dig_out_bits_cmd_;
   std::array<double, 2> standard_analog_output_cmd_;
@@ -229,12 +171,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double hand_back_control_async_success_;
   bool first_pass_;
   bool initialized_;
-  // double system_interface_initialized_;
   std::atomic_bool async_thread_shutdown_;
-  // double get_robot_software_version_major_;
-  // double get_robot_software_version_minor_;
-  // double get_robot_software_version_bugfix_;
-  // double get_robot_software_version_build_;
 
   // Freedrive mode controller interface values
   bool freedrive_activated_;
@@ -269,21 +206,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double force_mode_damping_;
   double force_mode_gain_scaling_;
 
-  // copy of non double values
-  // std::array<double, 18> actual_dig_out_bits_copy_;
-  // std::array<double, 18> actual_dig_in_bits_copy_;
-  // std::array<double, 4> analog_io_types_copy_;
-  // double tool_mode_copy_;
-  // std::array<double, 2> tool_analog_input_types_copy_;
-  // double tool_output_voltage_copy_;
-  // double robot_mode_copy_;
-  // double safety_mode_copy_;
-  // std::array<double, 4> robot_status_bits_copy_;
-  // std::array<double, 11> safety_status_bits_copy_;
-
   bool robot_program_running_;
   bool non_blocking_read_;
-  // double robot_program_running_copy_;
 
   /* Vectors used to store the trajectory received from the passthrough trajectory controller. The whole trajectory is
    * received before it is sent to the robot. */
@@ -292,9 +216,6 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   std::vector<std::array<double, 6>> trajectory_joint_accelerations_;
   std::vector<double> trajectory_times_;
 
-  // PausingState pausing_state_;
-  // double pausing_ramp_up_increment_;
-
   // resources switching aux vars
   std::vector<std::vector<uint>> stop_modes_;
   std::vector<std::vector<std::string>> start_modes_;
@@ -313,8 +234,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   const std::string FORCE_MODE_GPIO = "force_mode";
   const std::string FREEDRIVE_MODE_GPIO = "freedrive_mode";
 
-  URStateHelper state_helper_; // Helper class to handle state interface stuff
+  URStateHelper state_helper_;  // Helper class to handle state interface stuff
 };
 }  // namespace ur_robot_driver
 
-#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
\ No newline at end of file
+#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index 360a3fa69..17404f5e4 100644
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -1,5 +1,5 @@
 // Copyright (c) 2025, b»robotized
-// 
+//
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
@@ -28,8 +28,8 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 
-#include <ur_client_library/ur/ur_driver.h>
-#include <ur_client_library/ur/instruction_executor.h>
+#include "ur_client_library/ur/ur_driver.h"
+#include "ur_client_library/ur/instruction_executor.h"
 
 #include "ur_robot_driver/stateinterface_helper.hpp"
 
@@ -42,27 +42,21 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
 public:
   virtual ~MotionPrimitivesUrDriver();
 
-  hardware_interface::CallbackReturn on_init(
-    const hardware_interface::HardwareInfo & info) override;
+  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
 
-  hardware_interface::CallbackReturn on_configure(
-    const rclcpp_lifecycle::State & previous_state) override;
+  hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
-  hardware_interface::CallbackReturn on_activate(
-    const rclcpp_lifecycle::State & previous_state) override;
+  hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
 
-  hardware_interface::CallbackReturn on_deactivate(
-    const rclcpp_lifecycle::State & previous_state) override;
+  hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
 
-  hardware_interface::return_type read(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
-  hardware_interface::return_type write(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
   /*!
    * \brief Callback to handle a change in the current state of the URCaps program running on the
@@ -73,41 +67,45 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   void handleRobotProgramState(bool program_running);
   void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
 
-
 private:
-  void reset_command_interfaces(); // Function to reset all command interfaces to NaN
+  void reset_command_interfaces();
   void asyncCommandThread();
   void asyncStopMotionThread();
   void processMotionCommand(const std::vector<double>& command);
   void processStopCommand();
-  bool getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
-  bool getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
-  
+  bool getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
+                                            double& move_time);
+
+  bool getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
+                                  double& move_time);
+
   // Async thread handling
   std::unique_ptr<std::thread> async_command_thread_;
   std::unique_ptr<std::thread> async_stop_motion_thread_;
-  std::atomic_bool async_thread_shutdown_{false};
+  std::atomic_bool async_thread_shutdown_{ false };
   std::mutex command_mutex_;
   std::mutex stop_mutex_;
-  
+
   // Command buffer for thread-safe communication
   std::vector<double> pending_command_;
-  std::atomic_bool new_command_available_{false};
-  std::atomic_bool new_stop_available_{false};
+  std::atomic_bool new_command_available_{ false };
+  std::atomic_bool new_stop_available_{ false };
 
-  
   // Execution status
-  std::atomic<int8_t> current_execution_status_{ExecutionState::IDLE};
-  std::atomic_bool ready_for_new_primitive_{false}; // Flag to indicate if the hw-interface is ready for a new motion primitive
-
+  std::atomic<int8_t> current_execution_status_{ ExecutionState::IDLE };
+  // Flag to indicate if the hw-interface is ready for a new motion primitive
+  std::atomic_bool ready_for_new_primitive_{ false };
 
-  std::vector<double> hw_mo_prim_commands_;   // Command interfaces for the motion primitives
-  std::vector<double> hw_mo_prim_states_;    // State interfaces for the motion primitives
+  // Command and state interfaces for the motion primitives
+  std::vector<double> hw_mo_prim_commands_;
+  std::vector<double> hw_mo_prim_states_;
 
   std::shared_ptr<urcl::UrDriver> ur_driver_;
-  std::shared_ptr<urcl::InstructionExecutor> instruction_executor_; // Shared pointer to the InstructionExecutor, which is responsible for executing motion commands.
+  // Shared pointer to the InstructionExecutor, which is responsible for executing motion commands.
+  std::shared_ptr<urcl::InstructionExecutor> instruction_executor_;
 
-  ur_robot_driver::URStateHelper state_helper_; // Helper class to handle state interface stuff from the URPositionHardwareInterface
+  // Helper class to handle state interface stuff from the URPositionHardwareInterface
+  ur_robot_driver::URStateHelper state_helper_;
   std::atomic_bool rtde_comm_has_been_started_ = false;
 
   urcl::RobotReceiveTimeout receive_timeout_ = urcl::RobotReceiveTimeout::millisec(20);
@@ -117,7 +115,8 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
 
   bool non_blocking_read_;
 
-  std::atomic_bool build_motion_sequence_{false};   // flag to put all following primitives into a motion sequence instead of sending single primitives
+  // flag to put all following primitives into a motion sequence instead of sending single primitives
+  std::atomic_bool build_motion_sequence_{ false };
   std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence_;
 };
 
diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
index 31ec35f06..ecaf0ea4b 100644
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
@@ -44,6 +44,9 @@
 #include <bitset>
 #include <vector>
 #include <array>
+#include <algorithm>
+#include <memory>
+#include <string>
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 namespace rtde = urcl::rtde_interface;
@@ -53,9 +56,9 @@ namespace ur_robot_driver
 
 enum class PausingState
 {
-    PAUSED,
-    RUNNING,
-    RAMPUP
+  PAUSED,
+  RUNNING,
+  RAMPUP
 };
 
 // We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
@@ -79,337 +82,366 @@ struct Quaternion
   double z;
   double w;
 };
-      
 
 class URStateHelper
 {
 public:
-    URStateHelper() = default; 
+  URStateHelper() = default;
 
-    void initialize()
-    {
-        urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-        urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-        urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-        urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-        urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-        runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
-        pausing_state_ = PausingState::RUNNING;
-        pausing_ramp_up_increment_ = 0.01;
-        system_interface_initialized_ = 0.0;
-    }
-
-    void setRobotSoftwareVersion(const urcl::VersionInformation& version_info) {
-        get_robot_software_version_major_ = version_info.major;
-        get_robot_software_version_minor_ = version_info.minor;
-        get_robot_software_version_build_ = version_info.build;
-        get_robot_software_version_bugfix_ = version_info.bugfix;
-    }
+  void initialize()
+  {
+    urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+    urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+    urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+    urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+    urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+    runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
+    pausing_state_ = PausingState::RUNNING;
+    pausing_ramp_up_increment_ = 0.01;
+    system_interface_initialized_ = 0.0;
+  }
 
-    std::vector<hardware_interface::StateInterface> generate_state_interfaces(
-        std::vector<std::string>& joint_names,
-        std::string& tf_prefix,
-        std::vector<std::string>& sensor_names)
-    {
-        std::vector<hardware_interface::StateInterface> state_interfaces;
+  void setRobotSoftwareVersion(const urcl::VersionInformation& version_info)
+  {
+    get_robot_software_version_major_ = version_info.major;
+    get_robot_software_version_minor_ = version_info.minor;
+    get_robot_software_version_build_ = version_info.build;
+    get_robot_software_version_bugfix_ = version_info.bugfix;
+  }
 
-        // Joints
-        for (size_t i = 0; i < joint_names.size(); ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
-        }
+  std::vector<hardware_interface::StateInterface> generate_state_interfaces(std::vector<std::string>& joint_names,
+                                                                            std::string& tf_prefix,
+                                                                            std::vector<std::string>& sensor_names)
+  {
+    std::vector<hardware_interface::StateInterface> state_interfaces;
+
+    // Joints
+    for (size_t i = 0; i < joint_names.size(); ++i) {
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT,
+                                                                       &urcl_joint_efforts_[i]));
+    }
 
-        // Speed scaling
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor", &speed_scaling_combined_));
-
-        // Force-torque sensor
-        for (const auto& sensor : sensor_names) {
-            if (sensor == tf_prefix + "tcp_fts_sensor") {
-                const std::vector<std::string> fts_names = {
-                    "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
-                };
-                for (uint j = 0; j < 6; ++j) {
-                    state_interfaces.emplace_back(hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements_[j]));
-                }
-            }
+    // Speed scaling
+    state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling",
+                                                                     "speed_scaling_factor", &speed_scaling_combined_));
+
+    // Force-torque sensor
+    for (const auto& sensor : sensor_names) {
+      if (sensor == tf_prefix + "tcp_fts_sensor") {
+        const std::vector<std::string> fts_names = {
+          "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
+        };
+        for (uint j = 0; j < 6; ++j) {
+          state_interfaces.emplace_back(
+              hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements_[j]));
         }
+      }
+    }
 
-        // GPIO
-        for (size_t i = 0; i < 18; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
-        }
+    // GPIO
+    for (size_t i = 0; i < 18; ++i) {
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
+    }
 
-        for (size_t i = 0; i < 11; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
-        }
+    for (size_t i = 0; i < 11; ++i) {
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
+    }
 
-        for (size_t i = 0; i < 4; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
-        }
-       
-        for (size_t i = 0; i < 2; ++i) {
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
-            state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
-        }
+    for (size_t i = 0; i < 4; ++i) {
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
+    }
 
-        // Other states
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized", &system_interface_initialized_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
-
-        // TCP pose
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
-
-        // TCP rotation
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_.x));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_.y));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_.z));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_.w));
-
-        // Software version
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
-        state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
-
-        return state_interfaces;
+    for (size_t i = 0; i < 2; ++i) {
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
+      state_interfaces.emplace_back(hardware_interface::StateInterface(
+          tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
     }
 
-    void processStateData(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
-    {
-        if (!data_pkg) {
-            return;
-        }
+    // Other states
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
+                                                                     &system_interface_initialized_));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
+
+    // TCP pose
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
+
+    // TCP rotation
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_.x));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_.y));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_.z));
+    state_interfaces.emplace_back(
+        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_.w));
+
+    // Software version
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
+
+    return state_interfaces;
+  }
 
-        readData(data_pkg, "actual_q", urcl_joint_positions_);
-        readData(data_pkg, "actual_qd", urcl_joint_velocities_);
-        readData(data_pkg, "actual_current", urcl_joint_efforts_);
-        readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
-        readData(data_pkg, "speed_scaling", speed_scaling_);
-        readData(data_pkg, "runtime_state", runtime_state_);
-        readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-        readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-        readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
-        readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-        readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-        readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-        readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-        readData(data_pkg, "tool_mode", tool_mode_);
-        readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-        readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-        readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
-        readData(data_pkg, "tool_output_current", tool_output_current_);
-        readData(data_pkg, "tool_temperature", tool_temperature_);
-        readData(data_pkg, "robot_mode", robot_mode_);
-        readData(data_pkg, "safety_mode", safety_mode_);
-        readData(data_pkg, "tcp_offset", tcp_offset_);
-
-        readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-        readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-        readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-        readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-        readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-        readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-
-        extractToolPose();
-        transformForceTorque();
-
-        // pausing state follows runtime state when pausing
-        if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
-            pausing_state_ = PausingState::PAUSED;
-        } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
-                    pausing_state_ == PausingState::PAUSED) {
-            // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
-            speed_scaling_combined_ = 0.0;
-            pausing_state_ = PausingState::RAMPUP;
-        }
-    
-        if (pausing_state_ == PausingState::RAMPUP) {
-            double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
-            speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
-    
-            if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
-            pausing_state_ = PausingState::RUNNING;
-            }
-        } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
-            // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
-            // continuing to interpolate
-            speed_scaling_combined_ = 0.0;
-        } else {
-            // Normal case
-            speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
-        }
+  void processStateData(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
+  {
+    if (!data_pkg) {
+      return;
+    }
+
+    readData(data_pkg, "actual_q", urcl_joint_positions_);
+    readData(data_pkg, "actual_qd", urcl_joint_velocities_);
+    readData(data_pkg, "actual_current", urcl_joint_efforts_);
+    readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
+    readData(data_pkg, "speed_scaling", speed_scaling_);
+    readData(data_pkg, "runtime_state", runtime_state_);
+    readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+    readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
+    readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+    readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+    readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+    readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+    readData(data_pkg, "tool_mode", tool_mode_);
+    readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+    readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+    readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
+    readData(data_pkg, "tool_output_current", tool_output_current_);
+    readData(data_pkg, "tool_temperature", tool_temperature_);
+    readData(data_pkg, "robot_mode", robot_mode_);
+    readData(data_pkg, "safety_mode", safety_mode_);
+    readData(data_pkg, "tcp_offset", tcp_offset_);
+
+    readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+    readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+    readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+    readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+    readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+
+    extractToolPose();
+    transformForceTorque();
+
+    // pausing state follows runtime state when pausing
+    if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
+      pausing_state_ = PausingState::PAUSED;
+    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
+               pausing_state_ == PausingState::PAUSED) {
+      // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
+      speed_scaling_combined_ = 0.0;
+      pausing_state_ = PausingState::RAMPUP;
+    }
 
-        updateNonDoubleValues(initialized, robot_program_running);
-    
+    if (pausing_state_ == PausingState::RAMPUP) {
+      double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
+      speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
 
-            
+      if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
+        pausing_state_ = PausingState::RUNNING;
+      }
+    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
+      // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
+      // continuing to interpolate
+      speed_scaling_combined_ = 0.0;
+    } else {
+      // Normal case
+      speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
     }
-    // Public member variables
-    urcl::vector6d_t urcl_joint_positions_;
-    uint32_t runtime_state_;
 
-private:
-    void updateNonDoubleValues(bool initialized, bool robot_program_running)
-    {
-        for (size_t i = 0; i < 18; ++i) {
-            actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
-            actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
-        }
+    updateNonDoubleValues(initialized, robot_program_running);
+  }
+  // Public member variables
+  urcl::vector6d_t urcl_joint_positions_;
+  uint32_t runtime_state_;
 
-        for (size_t i = 0; i < 11; ++i) {
-            safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
-        }
+private:
+  void updateNonDoubleValues(bool initialized, bool robot_program_running)
+  {
+    for (size_t i = 0; i < 18; ++i) {
+      actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
+      actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
+    }
 
-        for (size_t i = 0; i < 4; ++i) {
-            analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
-            robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
-        }
+    for (size_t i = 0; i < 11; ++i) {
+      safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
+    }
 
-        for (size_t i = 0; i < 2; ++i) {
-            tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
-        }
+    for (size_t i = 0; i < 4; ++i) {
+      analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
+      robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
+    }
 
-        tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
-        robot_mode_copy_ = static_cast<double>(robot_mode_);
-        safety_mode_copy_ = static_cast<double>(safety_mode_);
-        tool_mode_copy_ = static_cast<double>(tool_mode_);
-        system_interface_initialized_ = initialized ? 1.0 : 0.0;
-        robot_program_running_copy_ = robot_program_running ? 1.0 : 0.0;
+    for (size_t i = 0; i < 2; ++i) {
+      tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
     }
 
+    tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
+    robot_mode_copy_ = static_cast<double>(robot_mode_);
+    safety_mode_copy_ = static_cast<double>(safety_mode_);
+    tool_mode_copy_ = static_cast<double>(tool_mode_);
+    system_interface_initialized_ = initialized ? 1.0 : 0.0;
+    robot_program_running_copy_ = robot_program_running ? 1.0 : 0.0;
+  }
 
-    template <typename T>
-    void readData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
-    {
-        if (!data_pkg->getData(var_name, data)) {
-            // This throwing should never happen unless misconfigured
-            std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-            throw std::runtime_error(error_msg);
-        }
+  template <typename T>
+  void readData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
+  {
+    if (!data_pkg->getData(var_name, data)) {
+      // This throwing should never happen unless misconfigured
+      std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+      throw std::runtime_error(error_msg);
     }
+  }
 
-    template <typename T, size_t N>
-    void readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, std::bitset<N>& data)
-    {
-        if (!data_pkg->getData<T, N>(var_name, data)) {
-            // This throwing should never happen unless misconfigured
-            std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-            throw std::runtime_error(error_msg);
-        }
+  template <typename T, size_t N>
+  void readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name,
+                      std::bitset<N>& data)
+  {
+    if (!data_pkg->getData<T, N>(var_name, data)) {
+      // This throwing should never happen unless misconfigured
+      std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+      throw std::runtime_error(error_msg);
     }
+  }
 
-    void extractToolPose()
-    {
-        // imported from ROS1 driver hardware_interface.cpp#L911-L928
-        double tcp_angle =
-            std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
-
-        tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
-        if (tcp_angle > 1e-16) {
-            tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
-        } else {
-            tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
-        }
-        tcp_rotation_buffer_.set(tcp_rotation_quat_);
+  void extractToolPose()
+  {
+    // imported from ROS1 driver hardware_interface.cpp#L911-L928
+    double tcp_angle =
+        std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
+
+    tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
+    if (tcp_angle > 1e-16) {
+      tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
+    } else {
+      tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
     }
+    tcp_rotation_buffer_.set(tcp_rotation_quat_);
+  }
 
-    void transformForceTorque()
+  void transformForceTorque()
+  {
+    KDL::Wrench ft(
+        KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
+        KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
+    if (get_robot_software_version_major_ >= 5)  // e-Series
     {
-        KDL::Wrench ft(
-            KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
-            KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
-        if (get_robot_software_version_major_>= 5)  // e-Series
-        {
-            // Setup necessary frames
-            KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
-            double angle = vec.Normalize();
-            KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
-            KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
-
-            vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-            angle = vec.Normalize();
-            rotation = KDL::Rotation::Rot(vec, angle);
-            KDL::Frame base_to_tcp =
-                KDL::Frame(rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
-            // Calculate transformation from base to flange, see calculation details below
-            // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
-            KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
-            // rotate f/t sensor output back to the flange frame
-            ft = base_to_flange.M.Inverse() * ft;
-
-            // Transform the wrench to the tcp frame
-            ft = flange_to_tcp * ft;
-        } else {  // CB3
-            KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-            double angle = vec.Normalize();
-            KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
-
-            // rotate f/t sensor output back to the tcp frame
-            ft = base_to_tcp_rot.Inverse() * ft;
-        }
-        urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
+      // Setup necessary frames
+      KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
+      double angle = vec.Normalize();
+      KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
+      KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
+
+      vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+      angle = vec.Normalize();
+      rotation = KDL::Rotation::Rot(vec, angle);
+      KDL::Frame base_to_tcp = KDL::Frame(
+          rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
+      // Calculate transformation from base to flange, see calculation details below
+      // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
+      KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
+      // rotate f/t sensor output back to the flange frame
+      ft = base_to_flange.M.Inverse() * ft;
+
+      // Transform the wrench to the tcp frame
+      ft = flange_to_tcp * ft;
+    } else {  // CB3
+      KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+      double angle = vec.Normalize();
+      KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
+
+      // rotate f/t sensor output back to the tcp frame
+      ft = base_to_tcp_rot.Inverse() * ft;
     }
+    urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
+  }
 
-    // Private member variables
-    urcl::vector6d_t urcl_joint_velocities_;
-    urcl::vector6d_t urcl_joint_efforts_;
-    double target_speed_fraction_;
-    double speed_scaling_;
-    urcl::vector6d_t urcl_ft_sensor_measurements_;
-    urcl::vector6d_t urcl_tcp_pose_;
-    std::array<double, 2> standard_analog_input_;
-    std::array<double, 2> standard_analog_output_;
-    std::array<double, 2> tool_analog_input_;
-    double tool_output_current_;
-    double tool_temperature_;
-    std::bitset<4> robot_status_bits_;
-    std::array<double, 4> robot_status_bits_copy_;
-    std::bitset<11> safety_status_bits_;
-    std::array<double, 11> safety_status_bits_copy_;
-    std::bitset<18> actual_dig_in_bits_;
-    std::array<double, 18> actual_dig_in_bits_copy_;
-    std::bitset<4> analog_io_types_;
-    std::array<double, 4> analog_io_types_copy_;
-    std::bitset<2> tool_analog_input_types_;
-    std::array<double, 2> tool_analog_input_types_copy_;
-    tf2::Quaternion tcp_rotation_quat_;
-    ur_robot_driver::Quaternion tcp_rotation_buffer_;
-    // tf2::Vector3 tcp_force_;
-    // tf2::Vector3 tcp_torque_;
-    std::bitset<18> actual_dig_out_bits_;
-    std::array<double, 18> actual_dig_out_bits_copy_;
-    int32_t tool_output_voltage_;
-    double tool_output_voltage_copy_;
-    int32_t robot_mode_;
-    double robot_mode_copy_;
-    int32_t safety_mode_;
-    double safety_mode_copy_;
-    uint32_t tool_mode_;
-    double tool_mode_copy_;
-    double system_interface_initialized_;
-    double robot_program_running_copy_;
-    double speed_scaling_combined_;
-    double get_robot_software_version_major_;
-    double get_robot_software_version_minor_;
-    double get_robot_software_version_bugfix_;
-    double get_robot_software_version_build_;
-    PausingState pausing_state_;
-    double pausing_ramp_up_increment_;
-    urcl::vector6d_t urcl_target_tcp_pose_;
-    urcl::vector6d_t tcp_offset_;
+  // Private member variables
+  urcl::vector6d_t urcl_joint_velocities_;
+  urcl::vector6d_t urcl_joint_efforts_;
+  double target_speed_fraction_;
+  double speed_scaling_;
+  urcl::vector6d_t urcl_ft_sensor_measurements_;
+  urcl::vector6d_t urcl_tcp_pose_;
+  std::array<double, 2> standard_analog_input_;
+  std::array<double, 2> standard_analog_output_;
+  std::array<double, 2> tool_analog_input_;
+  double tool_output_current_;
+  double tool_temperature_;
+  std::bitset<4> robot_status_bits_;
+  std::array<double, 4> robot_status_bits_copy_;
+  std::bitset<11> safety_status_bits_;
+  std::array<double, 11> safety_status_bits_copy_;
+  std::bitset<18> actual_dig_in_bits_;
+  std::array<double, 18> actual_dig_in_bits_copy_;
+  std::bitset<4> analog_io_types_;
+  std::array<double, 4> analog_io_types_copy_;
+  std::bitset<2> tool_analog_input_types_;
+  std::array<double, 2> tool_analog_input_types_copy_;
+  tf2::Quaternion tcp_rotation_quat_;
+  ur_robot_driver::Quaternion tcp_rotation_buffer_;
+  // tf2::Vector3 tcp_force_;
+  // tf2::Vector3 tcp_torque_;
+  std::bitset<18> actual_dig_out_bits_;
+  std::array<double, 18> actual_dig_out_bits_copy_;
+  int32_t tool_output_voltage_;
+  double tool_output_voltage_copy_;
+  int32_t robot_mode_;
+  double robot_mode_copy_;
+  int32_t safety_mode_;
+  double safety_mode_copy_;
+  uint32_t tool_mode_;
+  double tool_mode_copy_;
+  double system_interface_initialized_;
+  double robot_program_running_copy_;
+  double speed_scaling_combined_;
+  double get_robot_software_version_major_;
+  double get_robot_software_version_minor_;
+  double get_robot_software_version_bugfix_;
+  double get_robot_software_version_build_;
+  PausingState pausing_state_;
+  double pausing_ramp_up_increment_;
+  urcl::vector6d_t urcl_target_tcp_pose_;
+  urcl::vector6d_t tcp_offset_;
 };
 
-}  // namespace ur_robot_driver
\ No newline at end of file
+}  // namespace ur_robot_driver
diff --git a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
index f9bb1b22e..a7204d7b1 100644
--- a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
+++ b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
@@ -109,13 +109,13 @@ def launch_setup(context):
         ],
     )
 
-    urscript_interface = Node(
-        package="ur_robot_driver",
-        executable="urscript_interface",
-        parameters=[{"robot_ip": robot_ip}],
-        output="screen",
-        condition=UnlessCondition(use_mock_hardware),
-    )
+    # urscript_interface = Node(
+    #     package="ur_robot_driver",
+    #     executable="urscript_interface",
+    #     parameters=[{"robot_ip": robot_ip}],
+    #     output="screen",
+    #     condition=UnlessCondition(use_mock_hardware),
+    # )
 
     controller_stopper_node = Node(
         package="ur_robot_driver",
@@ -169,23 +169,21 @@ def controller_spawner(controllers, active=True):
         "joint_state_broadcaster",
         "motion_primitive_controller",
     ]
-        # "io_and_status_controller",
-        # "speed_scaling_state_broadcaster",
-        # "force_torque_sensor_broadcaster",
-        # "tcp_pose_broadcaster",
-        # "ur_configuration_controller",
+    # "io_and_status_controller",
+    # "speed_scaling_state_broadcaster",
+    # "force_torque_sensor_broadcaster",
+    # "tcp_pose_broadcaster",
+    # "ur_configuration_controller",
+
+    controllers_inactive = []
+    # "scaled_joint_trajectory_controller",
+    # "joint_trajectory_controller",
+    # "forward_velocity_controller",
+    # "forward_position_controller",
+    # "force_mode_controller",
+    # "passthrough_trajectory_controller",
+    # "freedrive_mode_controller",
 
-    controllers_inactive = [
-        
-    ]
-        # "scaled_joint_trajectory_controller",
-        # "joint_trajectory_controller",
-        # "forward_velocity_controller",
-        # "forward_position_controller",
-        # "force_mode_controller",
-        # "passthrough_trajectory_controller",
-        # "freedrive_mode_controller",
-    
     if activate_joint_controller.perform(context) == "true":
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
@@ -205,7 +203,6 @@ def controller_spawner(controllers, active=True):
     if controllers_inactive:  # Check if controllers_inactive is not empty
         controller_spawners.append(controller_spawner(controllers_inactive, active=False))
 
-
     rsp = IncludeLaunchDescription(
         AnyLaunchDescriptionSource(description_launchfile),
         launch_arguments={
@@ -256,7 +253,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "driver_type", 
+            "driver_type",
             default_value="motion_primitive",
             description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
             choices=["standard", "motion_primitive"],
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 2fe833b4a..b29f44f29 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -252,7 +252,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "driver_type", 
+            "driver_type",
             default_value="standard",
             description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
             choices=["standard", "motion_primitive"],
diff --git a/ur_robot_driver/launch/ur_rsp.launch.py b/ur_robot_driver/launch/ur_rsp.launch.py
index 462938c79..c6334ebf7 100644
--- a/ur_robot_driver/launch/ur_rsp.launch.py
+++ b/ur_robot_driver/launch/ur_rsp.launch.py
@@ -97,7 +97,7 @@ def generate_launch_description():
             " ",
             "robot_ip:=",
             robot_ip,
-            " ", 
+            " ",
             "driver_type:=",
             driver_type,
             " ",
@@ -220,7 +220,7 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "driver_type", 
+            "driver_type",
             default_value="standard",
             description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
             choices=["standard", "motion_primitive"],
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 82fe44425..b777aad7e 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -73,11 +73,6 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   info_ = system_info;
 
   // initialize
-  // urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  // urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  // urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  // urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-  // urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_old_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
@@ -85,14 +80,10 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   velocity_controller_running_ = false;
   freedrive_mode_controller_running_ = false;
   passthrough_trajectory_controller_running_ = false;
-  // runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
-  // pausing_state_ = PausingState::RUNNING;
-  // pausing_ramp_up_increment_ = 0.01;
   controllers_initialized_ = false;
   first_pass_ = true;
   initialized_ = false;
   async_thread_shutdown_ = false;
-  // system_interface_initialized_ = 0.0;
   freedrive_mode_abort_ = 0.0;
   passthrough_trajectory_transfer_state_ = 0.0;
   passthrough_trajectory_abort_ = 0.0;
@@ -157,135 +148,19 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
 
 std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::export_state_interfaces()
 {
-  // std::vector<hardware_interface::StateInterface> state_interfaces;
-  // for (size_t i = 0; i < info_.joints.size(); ++i) {
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       info_.joints[i].name, hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
-
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
-
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
-  // }
-
-  // // Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
-  // // NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio
-  // // state interface in info_ and match them accordingly
-  // const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor",
-  //                                                                  &speed_scaling_combined_));
-
-  // for (auto& sensor : info_.sensors) {
-  //   if (sensor.name == tf_prefix + "tcp_fts_sensor") {
-  //     const std::vector<std::string> fts_names = {
-  //       "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
-  //     };
-  //     for (uint j = 0; j < 6; ++j) {
-  //       state_interfaces.emplace_back(
-  //           hardware_interface::StateInterface(sensor.name, fts_names[j], &urcl_ft_sensor_measurements_[j]));
-  //     }
-  //   }
-  // }
-
-  // for (size_t i = 0; i < 18; ++i) {
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
-  // }
-
-  // for (size_t i = 0; i < 11; ++i) {
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
-  // }
-
-  // for (size_t i = 0; i < 4; ++i) {
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
-  // }
-
-  // for (size_t i = 0; i < 2; ++i) {
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
-
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
-
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
-
-  //   state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //       tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
-  // }
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
-  //                                                                  &system_interface_initialized_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
-
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
-  // state_interfaces.emplace_back(
-  //     hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //     tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //     tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //     tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
-
-  // state_interfaces.emplace_back(hardware_interface::StateInterface(
-  //     tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
-
-  // return state_interfaces;
-
-   // extract joint names
-   std::vector<std::string> joint_names;
-   for (size_t i = 0; i < info_.joints.size(); ++i) {
-     joint_names.push_back(info_.joints[i].name);
-   }
- 
-   // extract sensor names
-   std::vector<std::string> sensor_names;
-   for (size_t i = 0; i < info_.sensors.size(); ++i) {
-     sensor_names.push_back(info_.sensors[i].name);
-   }
- 
-   return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
+  // extract joint names
+  std::vector<std::string> joint_names;
+  for (size_t i = 0; i < info_.joints.size(); ++i) {
+    joint_names.push_back(info_.joints[i].name);
+  }
+
+  // extract sensor names
+  std::vector<std::string> sensor_names;
+  for (size_t i = 0; i < info_.sensors.size(); ++i) {
+    sensor_names.push_back(info_.sensors[i].name);
+  }
+
+  return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
 }
 
 std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::export_command_interfaces()
@@ -591,10 +466,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   // Export version information to state interfaces
   urcl::VersionInformation version_info = ur_driver_->getVersion();
   state_helper_.setRobotSoftwareVersion(version_info);
-  // get_robot_software_version_major_ = version_info.major;
-  // get_robot_software_version_minor_ = version_info.minor;
-  // get_robot_software_version_build_ = version_info.build;
-  // get_robot_software_version_bugfix_ = version_info.bugfix;
 
   async_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncThread, this);
 
@@ -654,28 +525,6 @@ hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
-// template <typename T>
-// void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
-//                                            const std::string& var_name, T& data)
-// {
-//   if (!data_pkg->getData(var_name, data)) {
-//     // This throwing should never happen unless misconfigured
-//     std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-//     throw std::runtime_error(error_msg);
-//   }
-// }
-
-// template <typename T, size_t N>
-// void URPositionHardwareInterface::readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
-//                                                  const std::string& var_name, std::bitset<N>& data)
-// {
-//   if (!data_pkg->getData<T, N>(var_name, data)) {
-//     // This throwing should never happen unless misconfigured
-//     std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-//     throw std::runtime_error(error_msg);
-//   }
-// }
-
 void URPositionHardwareInterface::asyncThread()
 {
   async_thread_shutdown_ = false;
@@ -704,68 +553,6 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
     state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
 
-    // readData(data_pkg, "actual_q", urcl_joint_positions_);
-    // readData(data_pkg, "actual_qd", urcl_joint_velocities_);
-    // readData(data_pkg, "actual_current", urcl_joint_efforts_);
-
-    // readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
-    // readData(data_pkg, "speed_scaling", speed_scaling_);
-    // readData(data_pkg, "runtime_state", runtime_state_);
-    // readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-    // readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    // readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
-    // readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-    // readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-    // readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-    // readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-    // readData(data_pkg, "tool_mode", tool_mode_);
-    // readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-    // readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-    // readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
-    // readData(data_pkg, "tool_output_current", tool_output_current_);
-    // readData(data_pkg, "tool_temperature", tool_temperature_);
-    // readData(data_pkg, "robot_mode", robot_mode_);
-    // readData(data_pkg, "safety_mode", safety_mode_);
-    // readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-    // readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-    // readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-    // readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-    // readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-    // readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-    // readData(data_pkg, "tcp_offset", tcp_offset_);
-
-    // required transforms
-    // extractToolPose();
-    // transformForceTorque();
-
-    // TODO(anyone): logic for sending other stuff to higher level interface
-
-    // pausing state follows runtime state when pausing
-    // if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
-    //   pausing_state_ = PausingState::PAUSED;
-    // } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
-    //            pausing_state_ == PausingState::PAUSED) {
-    //   // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
-    //   speed_scaling_combined_ = 0.0;
-    //   pausing_state_ = PausingState::RAMPUP;
-    // }
-
-    // if (pausing_state_ == PausingState::RAMPUP) {
-    //   double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
-    //   speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
-
-    //   if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
-    //     pausing_state_ = PausingState::RUNNING;
-    //   }
-    // } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
-    //   // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
-    //   // continuing to interpolate
-    //   speed_scaling_combined_ = 0.0;
-    // } else {
-    //   // Normal case
-    //   speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
-    // }
-
     if (first_pass_ && !initialized_) {
       initAsyncIO();
       // initialize commands
@@ -780,9 +567,6 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
       freedrive_mode_enable_ = NO_NEW_CMD_;
       initialized_ = true;
     }
-
-    // updateNonDoubleValues();
-
     return hardware_interface::return_type::OK;
   }
   if (!non_blocking_read_)
@@ -798,7 +582,7 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
   // TODO(anyone): We would still like to disable the controllers requiring a writable interface. In ROS1
   // this was done externally using the controller_stopper.
   if ((state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
-      state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
+       state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
       robot_program_running_ && (!non_blocking_read_ || packet_read_)) {
     if (position_controller_running_) {
       ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ, receive_timeout_);
@@ -943,86 +727,6 @@ void URPositionHardwareInterface::checkAsyncIO()
   }
 }
 
-// void URPositionHardwareInterface::updateNonDoubleValues()
-// {
-//   for (size_t i = 0; i < 18; ++i) {
-//     actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
-//     actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
-//   }
-
-//   for (size_t i = 0; i < 11; ++i) {
-//     safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
-//   }
-
-//   for (size_t i = 0; i < 4; ++i) {
-//     analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
-//     robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
-//   }
-
-//   for (size_t i = 0; i < 2; ++i) {
-//     tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
-//   }
-
-//   tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
-//   robot_mode_copy_ = static_cast<double>(robot_mode_);
-//   safety_mode_copy_ = static_cast<double>(safety_mode_);
-//   tool_mode_copy_ = static_cast<double>(tool_mode_);
-//   system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
-//   robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
-// }
-
-// void URPositionHardwareInterface::transformForceTorque()
-// {
-//   KDL::Wrench ft(
-//       KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
-//       KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
-//   if (ur_driver_->getVersion().major >= 5)  // e-Series
-//   {
-//     // Setup necessary frames
-//     KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
-//     double angle = vec.Normalize();
-//     KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
-//     KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
-
-//     vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-//     angle = vec.Normalize();
-//     rotation = KDL::Rotation::Rot(vec, angle);
-//     KDL::Frame base_to_tcp =
-//         KDL::Frame(rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
-//     // Calculate transformation from base to flange, see calculation details below
-//     // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
-//     KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
-//     // rotate f/t sensor output back to the flange frame
-//     ft = base_to_flange.M.Inverse() * ft;
-
-//     // Transform the wrench to the tcp frame
-//     ft = flange_to_tcp * ft;
-//   } else {  // CB3
-//     KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-//     double angle = vec.Normalize();
-//     KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
-
-//     // rotate f/t sensor output back to the tcp frame
-//     ft = base_to_tcp_rot.Inverse() * ft;
-//   }
-//   urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
-// }
-
-// void URPositionHardwareInterface::extractToolPose()
-// {
-//   // imported from ROS1 driver hardware_interface.cpp#L911-L928
-//   double tcp_angle =
-//       std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
-
-//   tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
-//   if (tcp_angle > 1e-16) {
-//     tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
-//   } else {
-//     tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
-//   }
-//   tcp_rotation_buffer.set(tcp_rotation_quat_);
-// }
-
 hardware_interface::return_type URPositionHardwareInterface::prepare_command_mode_switch(
     const std::vector<std::string>& start_interfaces, const std::vector<std::string>& stop_interfaces)
 {
@@ -1427,4 +1131,4 @@ bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<doubl
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
\ No newline at end of file
+PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 35f7e9464..7b68979b5 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -1,6 +1,5 @@
 // Copyright (c) 2025, b»robotized
-
-// 
+//
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
@@ -45,12 +44,10 @@ MotionPrimitivesUrDriver::~MotionPrimitivesUrDriver()
   ur_driver_.reset();
 }
 
-hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(
-  const hardware_interface::HardwareInfo & info)
+hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(const hardware_interface::HardwareInfo& info)
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing Hardware Interface");
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
-  {
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
     RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to initialize SystemInterface");
     return CallbackReturn::ERROR;
   }
@@ -67,34 +64,37 @@ hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(
   rtde_comm_has_been_started_ = false;
 
   // Resize hardware state and command vectors, initializing them with NaN values.
-  hw_mo_prim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());     // execution_status, ready_for_new_primitive
-  hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());  // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
+  // States: execution_status, ready_for_new_primitive
+  hw_mo_prim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
+  // Commands: // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
+  hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());
 
   return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_configure(
-  const rclcpp_lifecycle::State & /*previous_state*/)
+hardware_interface::CallbackReturn
+MotionPrimitivesUrDriver::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Configuring Hardware Interface");
 
   // The robot's IP address.
   const std::string robot_ip = info_.hardware_parameters["robot_ip"];
-  
+
   // Path to the urscript code that will be sent to the robot
   const std::string script_filename = info_.hardware_parameters["script_filename"];
-  
+
   // Path to the file containing the recipe used for requesting RTDE outputs.
   const std::string output_recipe_filename = info_.hardware_parameters["output_recipe_filename"];
-  
+
   // Path to the file containing the recipe used for requesting RTDE inputs.
   const std::string input_recipe_filename = info_.hardware_parameters["input_recipe_filename"];
-  
+
   // Start robot in headless mode. This does not require the 'External Control' URCap to be running
   // on the robot, but this will send the URScript to the robot directly. On e-Series robots this
   // requires the robot to run in 'remote-control' mode.
-  const bool headless_mode = (info_.hardware_parameters["headless_mode"] == "true") || (info_.hardware_parameters["headless_mode"] == "True");
-  
+  const bool headless_mode =
+      (info_.hardware_parameters["headless_mode"] == "true") || (info_.hardware_parameters["headless_mode"] == "True");
+
   // Port that will be opened to communicate between the driver and the robot controller.
   const int reverse_port = stoi(info_.hardware_parameters["reverse_port"]);
 
@@ -185,7 +185,8 @@ hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_configure(
                         "README.md] for details.");
   }
 
-  // ur_driver_->resetRTDEClient(output_recipe_filename, input_recipe_filename, 125.0, false);  // set rtde frequency to 125 Hz
+  // set rtde frequency to 125 Hz
+  // ur_driver_->resetRTDEClient(output_recipe_filename, input_recipe_filename, 125.0, false);
 
   // Export version information to state interfaces
   urcl::VersionInformation version_info = ur_driver_->getVersion();
@@ -221,16 +222,18 @@ std::vector<hardware_interface::StateInterface> MotionPrimitivesUrDriver::export
     sensor_names.push_back(info_.sensors[i].name);
   }
   // state interfaces from the URPositionHardwareInterface
-  state_interfaces = state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
+  state_interfaces =
+      state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
 
-  // State for execution_status
-  state_interfaces.emplace_back(hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_mo_prim_states_[0]));
-  state_interfaces.emplace_back(hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_mo_prim_states_[1]));
+  // State for execution_status and ready_for_new_primitive
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_mo_prim_states_[0]));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_mo_prim_states_[1]));
 
   return state_interfaces;
 }
 
-
 std::vector<hardware_interface::CommandInterface> MotionPrimitivesUrDriver::export_command_interfaces()
 {
   std::vector<hardware_interface::CommandInterface> command_interfaces;
@@ -238,58 +241,82 @@ std::vector<hardware_interface::CommandInterface> MotionPrimitivesUrDriver::expo
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Exporting Command Interfaces");
 
   // Command for motion type (motion_type)
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_mo_prim_commands_[0]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_mo_prim_commands_[0]));
   // Joint position commands (q1, q2, ..., q6)
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q1", &hw_mo_prim_commands_[1]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q2", &hw_mo_prim_commands_[2]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q3", &hw_mo_prim_commands_[3]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q4", &hw_mo_prim_commands_[4]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q5", &hw_mo_prim_commands_[5]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "q6", &hw_mo_prim_commands_[6]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q1", &hw_mo_prim_commands_[1]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q2", &hw_mo_prim_commands_[2]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q3", &hw_mo_prim_commands_[3]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q4", &hw_mo_prim_commands_[4]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q5", &hw_mo_prim_commands_[5]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q6", &hw_mo_prim_commands_[6]));
   // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_mo_prim_commands_[7]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_mo_prim_commands_[8]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_mo_prim_commands_[9]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_mo_prim_commands_[10]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_mo_prim_commands_[11]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_mo_prim_commands_[12]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_mo_prim_commands_[13]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_mo_prim_commands_[7]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_mo_prim_commands_[8]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_mo_prim_commands_[9]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_mo_prim_commands_[10]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_mo_prim_commands_[11]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_mo_prim_commands_[12]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_mo_prim_commands_[13]));
   // Via Position commands for circula motion
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_mo_prim_commands_[14]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_mo_prim_commands_[15]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_mo_prim_commands_[16]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_mo_prim_commands_[17]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_mo_prim_commands_[18]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_mo_prim_commands_[19]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_mo_prim_commands_[20]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_mo_prim_commands_[14]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_mo_prim_commands_[15]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_mo_prim_commands_[16]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_mo_prim_commands_[17]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_mo_prim_commands_[18]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_mo_prim_commands_[19]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_mo_prim_commands_[20]));
   // Other command parameters (blend_radius, velocity, acceleration, move_time)
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_mo_prim_commands_[21]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_mo_prim_commands_[22]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_mo_prim_commands_[23]));
-  command_interfaces.emplace_back(hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_mo_prim_commands_[24]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_mo_prim_commands_[21]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_mo_prim_commands_[22]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_mo_prim_commands_[23]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_mo_prim_commands_[24]));
 
   return command_interfaces;
 }
 
-
-hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_activate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
+hardware_interface::CallbackReturn
+MotionPrimitivesUrDriver::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Activating Hardware Interface");
-  ready_for_new_primitive_ = true; // set to true to allow sending new commands
+  ready_for_new_primitive_ = true;  // set to true to allow sending new commands
   return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_deactivate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
+hardware_interface::CallbackReturn
+MotionPrimitivesUrDriver::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Deactivating Hardware Interface");
   ur_driver_.reset();
   return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type MotionPrimitivesUrDriver::read(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+hardware_interface::return_type MotionPrimitivesUrDriver::read(const rclcpp::Time& /*time*/,
+                                                               const rclcpp::Duration& /*period*/)
 {
   if (!rtde_comm_has_been_started_) {
     ur_driver_->startRTDECommunication();
@@ -303,20 +330,18 @@ hardware_interface::return_type MotionPrimitivesUrDriver::read(
   }
 
   // Update the state interfaces
-  hw_mo_prim_states_[0] = current_execution_status_;    // 0=idle, 1=executing, 2=success, 3=error
+  hw_mo_prim_states_[0] = current_execution_status_;  // 0=idle, 1=executing, 2=success, 3=error
   hw_mo_prim_states_[1] = static_cast<double>(ready_for_new_primitive_);
 
-
   return hardware_interface::return_type::OK;
 }
 
-
-hardware_interface::return_type MotionPrimitivesUrDriver::write(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+hardware_interface::return_type MotionPrimitivesUrDriver::write(const rclcpp::Time& /*time*/,
+                                                                const rclcpp::Duration& /*period*/)
 {
   // Check if we have a new command
   if (!std::isnan(hw_mo_prim_commands_[0])) {
-    ready_for_new_primitive_ = false; // set to false to indicate that the driver is busy handeling a command
+    ready_for_new_primitive_ = false;  // set to false to indicate that the driver is busy handling a command
     if (hw_mo_prim_commands_[0] == MotionType::STOP_MOTION) {
       // Stop command received
       std::lock_guard<std::mutex> guard(stop_mutex_);
@@ -326,7 +351,8 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(
         std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
       }
     } else {
-      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Command of type: %f recived", hw_mo_prim_commands_[0]);
+      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+      //       "Command of type: %f received", hw_mo_prim_commands_[0]);
       std::lock_guard<std::mutex> guard(command_mutex_);
       if (!new_command_available_) {
         // Copy command to thread-safe buffer
@@ -343,7 +369,6 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(
     ur_driver_->writeKeepalive();
   }
 
-
   return hardware_interface::return_type::OK;
 }
 
@@ -355,8 +380,8 @@ void MotionPrimitivesUrDriver::asyncStopMotionThread()
         std::lock_guard<std::mutex> guard(stop_mutex_);
         new_stop_available_ = false;
       }
-      // Stop the motion
-      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] New stop command available");
+      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+      //       "[asyncStopMotionThread] New stop command available");
       processStopCommand();
     }
 
@@ -369,29 +394,31 @@ void MotionPrimitivesUrDriver::asyncStopMotionThread()
 void MotionPrimitivesUrDriver::processStopCommand()
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received STOP command");
-  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Trajectory running: %d", instruction_executor_->isTrajectoryRunning());
-  
+  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Trajectory running: %d",
+  //       instruction_executor_->isTrajectoryRunning());
+
   // delete motion sequence
   build_motion_sequence_ = false;
   motion_sequence_.clear();
 
   if (instruction_executor_->isTrajectoryRunning()) {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Stopping motion ...");
-    if(!instruction_executor_->cancelMotion()) {
+    if (!instruction_executor_->cancelMotion()) {
       RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to stop motion");
       current_execution_status_ = ExecutionState::ERROR;
     } else {
       RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Motion stopped successfully");
       current_execution_status_ = ExecutionState::IDLE;
-      ready_for_new_primitive_ = true; // set to true to allow sending new commands
+      ready_for_new_primitive_ = true;  // set to true to allow sending new commands
     }
-  }
-  else {
+  } else {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "No motion to stop");
     current_execution_status_ = ExecutionState::IDLE;
-    ready_for_new_primitive_ = true; // set to true to allow sending new commands
+    ready_for_new_primitive_ = true;  // set to true to allow sending new commands
   }
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processStopCommand] After executing stop: current_execution_status_ = %d", current_execution_status_.load());
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+              " [processStopCommand] After executing stop: current_execution_status_ = %d",
+              current_execution_status_.load());
 }
 
 void MotionPrimitivesUrDriver::asyncCommandThread()
@@ -423,143 +450,168 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
     return;
   }
   double velocity, acceleration, move_time;
-  double motion_type = command[0]; 
+  double motion_type = command[0];
   double blend_radius = command[21];
 
   try {
     switch (static_cast<uint8_t>(motion_type)) {
-      case MotionType::MOTION_SEQUENCE_START: {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_START: add all following commands to the motion sequence.");
+      case MotionType::MOTION_SEQUENCE_START:
+      {
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_START: add all following "
+                                                                    "commands to the motion sequence.");
         build_motion_sequence_ = true;  // set flag to put all following commands into the motion sequence
         motion_sequence_.clear();
-        ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        ready_for_new_primitive_ = true;  // set to true to allow sending new commands
         return;
       }
 
-      case MotionType::MOTION_SEQUENCE_END: {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives", motion_sequence_.size());
+      case MotionType::MOTION_SEQUENCE_END:
+      {
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                    "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives",
+                    motion_sequence_.size());
         build_motion_sequence_ = false;
         current_execution_status_ = ExecutionState::EXECUTING;
         bool success = instruction_executor_->executeMotion(motion_sequence_);
         current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d", current_execution_status_.load());
+        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                    " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d",
+                    current_execution_status_.load());
         motion_sequence_.clear();
-        if(success){
-          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        if (success) {
+          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
         }
         return;
       }
 
-      case MotionType::LINEAR_JOINT: { // moveJ
+      case MotionType::LINEAR_JOINT:
+      {  // moveJ
         // Check if joint positions are valid
         for (int i = 1; i <= 6; ++i) {
-            if (std::isnan(command[i])) {
-                RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: joint positions contain NaN values");
-                current_execution_status_ = ExecutionState::ERROR;
-                return;
-            }
+          if (std::isnan(command[i])) {
+            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: joint positions "
+                                                                         "contain NaN values");
+            current_execution_status_ = ExecutionState::ERROR;
+            return;
+          }
         }
-        urcl::vector6d_t joint_positions = {command[1], command[2], command[3], command[4], command[5], command[6]};
-        
+        urcl::vector6d_t joint_positions = { command[1], command[2], command[3], command[4], command[5], command[6] };
+
         // Get move_time OR (velocity AND acceleration)
         if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
+                                                                       "values");
           current_execution_status_ = ExecutionState::ERROR;
           return;
         }
 
-        
         // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {   // Add command to motion sequence
-          motion_sequence_.emplace_back(
-            std::make_shared<urcl::control::MoveJPrimitive>(
-                joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration, velocity));        
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5],
-                velocity, acceleration, move_time, blend_radius);
-          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        if (build_motion_sequence_) {  // Add command to motion sequence
+          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveJPrimitive>(
+              joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)),
+              acceleration, velocity));
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f]",
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", joint_positions[0],
+                      joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4],
+                      joint_positions[5], velocity, acceleration, move_time, blend_radius);
+          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           return;
-        }
-        else{ // execute single primitive directly
+        } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4], joint_positions[5]
-                , velocity, acceleration, move_time, blend_radius);
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f],"
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
+                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
           bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveJ: current_execution_status_ = %d", current_execution_status_.load());
-          if(success){
-            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      " [processMotionCommand] After executing moveJ: current_execution_status_ = %d",
+                      current_execution_status_.load());
+          if (success) {
+            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           }
           return;
         }
         break;
       }
 
-      case MotionType::LINEAR_CARTESIAN: { // moveL
+      case MotionType::LINEAR_CARTESIAN:
+      {  // moveL
         // Check if pose values (position and quaternion) are valid
         for (int i = 7; i <= 13; ++i) {
-            if (std::isnan(command[i])) {
-                RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN values");
-                current_execution_status_ = ExecutionState::ERROR;
-                return;
-            }
+          if (std::isnan(command[i])) {
+            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN "
+                                                                         "values");
+            current_execution_status_ = ExecutionState::ERROR;
+            return;
+          }
         }
         double rx, ry, rz;
         quaternionToEuler(command[10], command[11], command[12], command[13], rx, ry, rz);
-        urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz};
+        urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz };
 
         // Get move_time OR (velocity AND acceleration)
         if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
+                                                                       "values");
           current_execution_status_ = ExecutionState::ERROR;
           return;
         }
 
         // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {   // Add command to motion sequence
-          motion_sequence_.emplace_back(
-            std::make_shared<urcl::control::MoveLPrimitive>(
-                pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration, velocity));
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
-          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        if (build_motion_sequence_) {  // Add command to motion sequence
+          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveLPrimitive>(
+              pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration,
+              velocity));
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f],"
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
+                      blend_radius);
+          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           return;
-        } 
-        else{ // execute single primitive directly
+        } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                  "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", 
-                  pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time, blend_radius);
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Executing moveL with pose: [%f, %f, %f, %f, %f, %f],"
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
+                      blend_radius);
           bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveL: current_execution_status_ = %d", current_execution_status_.load());
-          if(success){
-            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      " [processMotionCommand] After executing moveL: current_execution_status_ = %d",
+                      current_execution_status_.load());
+          if (success) {
+            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           }
           return;
         }
         break;
       }
 
-      case MotionType::CIRCULAR_CARTESIAN: { //CIRC
+      case MotionType::CIRCULAR_CARTESIAN:
+      {  // CIRC
         // Check if pose values (position and quaternion) are valid
         for (int i = 7; i <= 20; ++i) {
           if (std::isnan(command[i])) {
-              RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN values");
-              current_execution_status_ = ExecutionState::ERROR;
-              return;
+            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN "
+                                                                         "values");
+            current_execution_status_ = ExecutionState::ERROR;
+            return;
           }
         }
 
-        int32_t mode = 0; // 0: Unconstrained mode, 1: Fixed mode (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf )
+        // 0: Unconstrained mode, 1: Fixed mode
+        // (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf)
+        int32_t mode = 0;
 
         // Get velocity and acceleration)
         if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration values");
+          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
+                                                                       "values");
           current_execution_status_ = ExecutionState::ERROR;
           return;
         }
@@ -571,48 +623,53 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         double goal_rx, goal_ry, goal_rz;
         quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
         urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
-        
+
         // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {   // Add command to motion sequence
-          motion_sequence_.emplace_back(
-            std::make_shared<urcl::control::MoveCPrimitive>(
-                via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
-                via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
-                goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
-                velocity, acceleration, blend_radius, mode); 
-          ready_for_new_primitive_ = true; // set to true to allow sending new commands
+        if (build_motion_sequence_) {  // Add command to motion sequence
+          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveCPrimitive>(
+              via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f],"
+                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
+                      "acceleration: %f, blend_radius: %f, mode: %d",
+                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
+                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
+                      blend_radius, mode);
+          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           return;
-        } 
-        else{ // execute single primitive directly
+        } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), 
-                "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, blend_radius: %f, mode: %d", 
-                via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz,
-                goal_pose.x, goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz,
-                velocity, acceleration, blend_radius, mode);          
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f],"
+                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
+                      "acceleration: %f, blend_radius: %f, mode: %d",
+                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
+                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
+                      blend_radius, mode);
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
           current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), " [processMotionCommand] After executing moveC: current_execution_status_ = %d", current_execution_status_.load());
-          if(success){
-            ready_for_new_primitive_ = true; // set to true to allow sending new commands
+          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                      " [processMotionCommand] After executing moveC: current_execution_status_ = %d",
+                      current_execution_status_.load());
+          if (success) {
+            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           }
           return;
         }
         break;
       }
 
-      default: {
-        RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: motion type %f is not supported", motion_type);
+      default:
+      {
+        RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+                     "Invalid motion command: motion type %f is not supported", motion_type);
         current_execution_status_ = ExecutionState::ERROR;
         return;
       }
     }
-
   } catch (const std::exception& e) {
-      RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to execute motion command: %s", e.what());
-      current_execution_status_ = ExecutionState::ERROR;
+    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to execute motion command: %s", e.what());
+    current_execution_status_ = ExecutionState::ERROR;
   }
 }
 
@@ -621,9 +678,11 @@ void MotionPrimitivesUrDriver::handleRobotProgramState(bool program_running)
   robot_program_running_ = program_running;
 }
 
-// Convert quaternion to Euler angles (roll, pitch, yaw) 
+// Convert quaternion to Euler angles (roll, pitch, yaw)
 // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz) {
+void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry,
+                                                 double& rz)
+{
   // roll (x-axis rotation)
   double sinr_cosp = 2 * (qw * qx + qy * qz);
   double cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
@@ -639,43 +698,45 @@ void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz
   double cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
   rz = std::atan2(siny_cosp, cosy_cosp);
 
-  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",qx, qy, qz, qw, rx, ry, rz);
+  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
+  //       "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
+  //       qx, qy, qz, qw, rx, ry, rz);
 }
 
-bool MotionPrimitivesUrDriver::getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time) {
+bool MotionPrimitivesUrDriver::getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command,
+                                                                    double& velocity, double& acceleration,
+                                                                    double& move_time)
+{
   // Check if move_time is valid
   if (!std::isnan(command[24]) && command[24] > 0.0) {
     move_time = command[24];
-    velocity = 1.0;        // If move_time is valid, velocity and acceleration are ignored in moveJ and moveL, but must be > 0.0
-    acceleration = 1.0;   
+    // If move_time is valid, velocity and acceleration are ignored in moveJ and moveL, but must be > 0.0
+    velocity = 1.0;
+    acceleration = 1.0;
     return true;
-  }
-  // If no valid move_time, check if velocity and acceleration are valid
-  else if (!std::isnan(command[22]) && command[22] > 0.0 &&
-           !std::isnan(command[23]) && command[23] > 0.0) {
+  } else if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
+    // If no valid move_time, check if velocity and acceleration are valid
     velocity = command[22];
     acceleration = command[23];
     move_time = 0.0;
     return true;
-  }
-  // Invalid values
-  else {
-    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "move_time, velocity and acceleration are all invalid");
+  } else {
+    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "move_time, velocity and acceleration are all "
+                                                                 "invalid");
     return false;
   }
 }
 
-bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time) {
+bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<double>& command, double& velocity,
+                                                          double& acceleration, double& move_time)
+{
   // Check if velocity and acceleration are valid
-  if (!std::isnan(command[22]) && command[22] > 0.0 &&
-           !std::isnan(command[23]) && command[23] > 0.0) {
+  if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
     velocity = command[22];
     acceleration = command[23];
     move_time = 0.0;
     return true;
-  }
-  // Invalid values
-  else {
+  } else {
     RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "velocity or acceleration is invalid");
     return false;
   }
@@ -685,5 +746,4 @@ bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<doub
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(
-  ur_robot_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
\ No newline at end of file
+PLUGINLIB_EXPORT_CLASS(ur_robot_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
diff --git a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
index 07ad45f75..090ea8434 100644
--- a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
@@ -326,7 +326,7 @@
         <command_interface name="velocity"/>
         <command_interface name="acceleration"/>
         <command_interface name="move_time"/>
-        
+
         <state_interface name="execution_status"/>
         <state_interface name="ready_for_new_primitive"/>
       </gpio>

From 4f8c7ef3fca0ca1bf4bd9e0b6082cc910f5fa708 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 6 May 2025 11:18:03 +0200
Subject: [PATCH 44/99] fixed prints

---
 .../src/motion_primitives_ur_driver.cpp       | 38 ++++++++++---------
 1 file changed, 21 insertions(+), 17 deletions(-)

diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 7b68979b5..125c2770b 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -175,14 +175,18 @@ MotionPrimitivesUrDriver::on_configure(const rclcpp_lifecycle::State& /*previous
   if (ur_driver_->checkCalibration(calibration_checksum)) {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Calibration checked successfully.");
   } else {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-
-                        "The calibration parameters of the connected robot don't match the ones from the given "
-                        "kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp "
-                        "positions. Use the ur_calibration tool to extract the correct calibration from the robot and "
-                        "pass that into the description. See "
-                        "[https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/"
-                        "README.md] for details.");
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), "The calibration parameters of the connected "
+                                                                        "robot don't match the ones from the given "
+                                                                        "kinematics config file. Please be aware that "
+                                                                        "this can lead to critical inaccuracies of tcp "
+                                                                        "positions. Use the ur_calibration tool to "
+                                                                        "extract the correct calibration from the "
+                                                                        "robot and "
+                                                                        "pass that into the description. See "
+                                                                        "[https://github.com/UniversalRobots/"
+                                                                        "Universal_Robots_ROS2_Driver/blob/main/"
+                                                                        "ur_calibration/"
+                                                                        "README.md] for details.");
   }
 
   // set rtde frequency to 125 Hz
@@ -511,16 +515,16 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
               joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)),
               acceleration, velocity));
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f]",
-                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f", joint_positions[0],
-                      joint_positions[1], joint_positions[2], joint_positions[3], joint_positions[4],
-                      joint_positions[5], velocity, acceleration, move_time, blend_radius);
+                      "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], "
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
+                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
           ready_for_new_primitive_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f],"
+                      "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], "
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
                       joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
@@ -566,7 +570,7 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
               pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration,
               velocity));
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f],"
+                      "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], "
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
                       blend_radius);
@@ -575,7 +579,7 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveL with pose: [%f, %f, %f, %f, %f, %f],"
+                      "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], "
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
                       blend_radius);
@@ -629,7 +633,7 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
           motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveCPrimitive>(
               via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f],"
+                      "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f], "
                       "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
                       "acceleration: %f, blend_radius: %f, mode: %d",
                       via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
@@ -640,7 +644,7 @@ void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& c
         } else {  // execute single primitive directly
           current_execution_status_ = ExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f],"
+                      "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], "
                       "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
                       "acceleration: %f, blend_radius: %f, mode: %d",
                       via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,

From b917b519bf7a9bf9904eec33ade99f711af0338e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 8 May 2025 10:57:36 +0200
Subject: [PATCH 45/99] added ExecutionState STOPPED and added handling for
 MotionType RESET_STOP

---
 ur_robot_driver/README_MotionPrimitive.md     |  5 ++-
 .../motion_primitives_ur_driver.hpp           |  9 ++--
 .../src/motion_primitives_ur_driver.cpp       | 41 +++++++++++--------
 3 files changed, 33 insertions(+), 22 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 1f90e7f6a..995ac9da4 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -117,7 +117,10 @@ ros2 run ur_robot_driver send_dummy_motion_primitives.py
 ## Publish stop motion command
 ```
 ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 66, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
-
+```
+## Reset stop motion command
+```
+ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 67, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
 ```
 
 ## Start UR-Sim
diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
index 17404f5e4..2c7857746 100644
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
@@ -73,9 +73,9 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   void asyncStopMotionThread();
   void processMotionCommand(const std::vector<double>& command);
   void processStopCommand();
+  void processResetStopCommand();
   bool getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
                                             double& move_time);
-
   bool getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
                                   double& move_time);
 
@@ -90,10 +90,10 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   std::vector<double> pending_command_;
   std::atomic_bool new_command_available_{ false };
   std::atomic_bool new_stop_available_{ false };
-
-  // Execution status
+  std::atomic_bool new_reset_stop_available_{ false };
+  
+  // Status for communication with controller
   std::atomic<int8_t> current_execution_status_{ ExecutionState::IDLE };
-  // Flag to indicate if the hw-interface is ready for a new motion primitive
   std::atomic_bool ready_for_new_primitive_{ false };
 
   // Command and state interfaces for the motion primitives
@@ -101,7 +101,6 @@ class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
   std::vector<double> hw_mo_prim_states_;
 
   std::shared_ptr<urcl::UrDriver> ur_driver_;
-  // Shared pointer to the InstructionExecutor, which is responsible for executing motion commands.
   std::shared_ptr<urcl::InstructionExecutor> instruction_executor_;
 
   // Helper class to handle state interface stuff from the URPositionHardwareInterface
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
index 125c2770b..717013174 100644
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
@@ -347,13 +347,19 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(const rclcpp::Ti
   if (!std::isnan(hw_mo_prim_commands_[0])) {
     ready_for_new_primitive_ = false;  // set to false to indicate that the driver is busy handling a command
     if (hw_mo_prim_commands_[0] == MotionType::STOP_MOTION) {
-      // Stop command received
       std::lock_guard<std::mutex> guard(stop_mutex_);
       if (!new_stop_available_) {
         new_stop_available_ = true;
         // Reset command interfaces
         std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
       }
+    }else if (hw_mo_prim_commands_[0] == MotionType::RESET_STOP) {
+        std::lock_guard<std::mutex> guard(stop_mutex_);
+        if (!new_reset_stop_available_) {
+          new_reset_stop_available_ = true;
+          // Reset command interfaces
+          std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
+        }
     } else {
       // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
       //       "Command of type: %f received", hw_mo_prim_commands_[0]);
@@ -368,7 +374,7 @@ hardware_interface::return_type MotionPrimitivesUrDriver::write(const rclcpp::Ti
     }
   }
 
-  // Send keepalive if current_execution_status_ in not EXECUTING
+  // Send keepalive if current_execution_status_ is not EXECUTING
   if (ur_driver_ && current_execution_status_ != ExecutionState::EXECUTING) {
     ur_driver_->writeKeepalive();
   }
@@ -380,15 +386,14 @@ void MotionPrimitivesUrDriver::asyncStopMotionThread()
 {
   while (!async_thread_shutdown_) {
     if (new_stop_available_) {
-      {
-        std::lock_guard<std::mutex> guard(stop_mutex_);
-        new_stop_available_ = false;
-      }
-      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-      //       "[asyncStopMotionThread] New stop command available");
+      std::lock_guard<std::mutex> guard(stop_mutex_);
+      new_stop_available_ = false;
       processStopCommand();
+    } else if (new_reset_stop_available_) {
+      std::lock_guard<std::mutex> guard(stop_mutex_);
+      new_reset_stop_available_ = false;
+      processResetStopCommand();
     }
-
     // Small sleep to prevent busy waiting
     std::this_thread::sleep_for(std::chrono::milliseconds(10));
   }
@@ -398,9 +403,6 @@ void MotionPrimitivesUrDriver::asyncStopMotionThread()
 void MotionPrimitivesUrDriver::processStopCommand()
 {
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received STOP command");
-  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Trajectory running: %d",
-  //       instruction_executor_->isTrajectoryRunning());
-
   // delete motion sequence
   build_motion_sequence_ = false;
   motion_sequence_.clear();
@@ -412,19 +414,26 @@ void MotionPrimitivesUrDriver::processStopCommand()
       current_execution_status_ = ExecutionState::ERROR;
     } else {
       RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Motion stopped successfully");
-      current_execution_status_ = ExecutionState::IDLE;
-      ready_for_new_primitive_ = true;  // set to true to allow sending new commands
+      current_execution_status_ = ExecutionState::STOPPED;
+      ready_for_new_primitive_ = false;
     }
   } else {
     RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "No motion to stop");
-    current_execution_status_ = ExecutionState::IDLE;
-    ready_for_new_primitive_ = true;  // set to true to allow sending new commands
+    current_execution_status_ = ExecutionState::STOPPED;
+    ready_for_new_primitive_ = false; 
   }
   RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
               " [processStopCommand] After executing stop: current_execution_status_ = %d",
               current_execution_status_.load());
 }
 
+void MotionPrimitivesUrDriver::processResetStopCommand()
+{
+  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received RESET_STOP command");
+  current_execution_status_ = ExecutionState::IDLE;
+  ready_for_new_primitive_ = true;  // set to true to allow sending new commands
+}
+
 void MotionPrimitivesUrDriver::asyncCommandThread()
 {
   while (!async_thread_shutdown_) {

From 7028805692cd09353022287ec9f4b1a03053db33 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 13 May 2025 11:39:22 +0200
Subject: [PATCH 46/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md     |  12 +++++-------
 ...s2_control_motion_primitives_ur.drawio.png | Bin 458182 -> 409859 bytes
 ...n_primitives_ur_whiteBackground.drawio.png | Bin 441153 -> 0 bytes
 3 files changed, 5 insertions(+), 7 deletions(-)
 delete mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur_whiteBackground.drawio.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 995ac9da4..1712e5252 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -17,7 +17,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 # Architecture
 
-![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur_whiteBackground.drawio.png)
+![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png)
 
 # Command and State Interfaces
 
@@ -47,6 +47,7 @@ These interfaces are used to communicate the internal status of the hardware int
   - `EXECUTING`: Currently executing a primitive
   - `SUCCESS`: Last command finished successfully
   - `ERROR`: An error occurred during execution
+  - `STOPPED`: The robot was stopped using the `STOP_MOTION` command and must be reset with the `RESET_STOP` command before executing new commands.
 - `ready_for_new_primitive`: Boolean flag indicating whether the interface is ready to receive a new motion primitive
 
 In addition to these, the driver also provides all standard state interfaces from the original UR hardware interface (e.g., joint positions, velocities). These are used by components like the `joint_state_broadcaster` and allow tools like RViz to visualize the current robot state.
@@ -60,6 +61,7 @@ In addition to these, the driver also provides all standard state interfaces fro
   - `CIRCULAR_CARTESIAN`
 - Additional helper types:
   - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue.
+  - `RESET_STOP`: After `RESET_STOP`, new commands can get handled.
   - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives.
 
 ![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png)
@@ -78,7 +80,7 @@ This approach offers two key advantages:
 
 The `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:
 
-1. If the command is `STOP_MOTION`, a flag is set which leads to interrupting the current motion inside the `asyncStopMotionThread()`.
+1. If the command is `STOP_MOTION`, a flag is set which leads to interrupting the current motion inside the `asyncStopMotionThread()`. If the command is `RESET_STOP`, the flag is reset, and new motion primitives can be received and executed.
 2. For other commands, they are passed to the `asyncCommandThread()` and executed asynchronously. Individual primitives are executed directly via the Instruction Executor.
 If a `MOTION_SEQUENCE_START` command is received, all subsequent primitives are added to a motion sequence. Once `MOTION_SEQUENCE_END` is received, the entire sequence is executed via the Instruction Executor.
 
@@ -88,7 +90,7 @@ Threading is required since calls to the Instruction Executor are blocking. Offl
 
 The `read()` method:
 
-- Publishes the `execution_status` over a state interface with possible values: `IDLE`, `EXECUTING`, `SUCCESS`, `ERROR`.
+- Publishes the `execution_status` over a state interface with possible values: `IDLE`, `EXECUTING`, `SUCCESS`, `ERROR`, `STOPPED`.
 - Publishes `ready_for_new_primitive` over a state interface to signal whether the interface is ready to receive a new primitive.
 - Handles additional state interfaces adopted from the UR driver, such as joint states, enabling RViz to visualize the current robot pose.
 
@@ -102,10 +104,6 @@ The standard UR hardware interface cannot run in parallel with this motion primi
 
 
 # Usage notes
-## Launch "normal" ur driver
-```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
-```
 ## Launch motion_primitives_ur_driver
 ```
 ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png b/ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png
index a33053b6b206bfc0cba7726589a8d7c79e1c6c1c..c8bc799c0dece8be44244997d78436d15d06cd3e 100644
GIT binary patch
delta 232163
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From 55b69533e30d6cb6f8b70eb66884ddc148f7cc35 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 15 May 2025 09:42:57 +0200
Subject: [PATCH 47/99] updated MotionPrimitiveExecutionWithHelperTypes draw.io

---
 ur_robot_driver/README_MotionPrimitive.md       |   2 +-
 ...PrimitiveExecutionWithHelperTypes.drawio.png | Bin 73408 -> 0 bytes
 ...mitiveExecutionWithHelperTypes_UR.drawio.png | Bin 0 -> 97256 bytes
 ...onWithHelperTypes_whiteBackground.drawio.png | Bin 75174 -> 0 bytes
 4 files changed, 1 insertion(+), 1 deletion(-)
 delete mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_UR.drawio.png
 delete mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 1712e5252..3fa1609db 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -64,7 +64,7 @@ In addition to these, the driver also provides all standard state interfaces fro
   - `RESET_STOP`: After `RESET_STOP`, new commands can get handled.
   - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives.
 
-![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_whiteBackground.drawio.png)
+![MotionPrimitiveExecutionWithHelperTypes](doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes_UR.drawio.png)
 
 # Overview
 
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png b/ur_robot_driver/doc/motion_primitive_ur_driver/MotionPrimitiveExecutionWithHelperTypes.drawio.png
deleted file mode 100644
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GIT binary patch
literal 0
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From 8e52e7c3dea9964162d045c4fdb65cdf178654ae Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 28 May 2025 12:23:40 +0200
Subject: [PATCH 48/99] added python script for tests with ur10e at H-KA

---
 ur_robot_driver/CMakeLists.txt                |   4 +-
 ur_robot_driver/README_MotionPrimitive.md     |  54 ++++--
 .../send_dummy_motion_primitives_hka_ur10e.py | 161 ++++++++++++++++++
 ...y => send_dummy_motion_primitives_ur5e.py} |   0
 .../examples/send_joint_positions.py          |  75 ++++++++
 5 files changed, 279 insertions(+), 15 deletions(-)
 create mode 100755 ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
 rename ur_robot_driver/examples/{send_dummy_motion_primitives.py => send_dummy_motion_primitives_ur5e.py} (100%)
 create mode 100755 ur_robot_driver/examples/send_joint_positions.py

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 36253c0f9..5783eefee 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -188,7 +188,9 @@ install(PROGRAMS
   scripts/start_ursim.sh
   examples/examples.py
   examples/force_mode.py
-  examples/send_dummy_motion_primitives.py
+  examples/send_dummy_motion_primitives_ur5e.py
+  examples/send_dummy_motion_primitives_hka_ur10e.py
+  examples/send_joint_positions.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 3fa1609db..b5a8ee50a 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -103,14 +103,29 @@ The standard UR hardware interface cannot run in parallel with this motion primi
 
 
 
-# Usage notes
+# Example usage notes with UR10e
+## (optional) URSim
+Start UR-Sim according to the [Universal Robots ROS 2 Driver Documentation](https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_client_library/doc/setup/ursim_docker.html) or the [Documentation for universalrobots/ursim_e-series docker container](https://hub.docker.com/r/universalrobots/ursim_e-series)
+```
+ros2 run ur_client_library start_ursim.sh -m ur10e
+```
+Remote control needs to be enabled:
+https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.html
+
 ## Launch motion_primitives_ur_driver
+With URSim:
+```
+ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true
+```
+With H-KA UR10e:
 ```
-ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur5e robot_ip:=172.20.0.2 launch_rviz:=true
+ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true
 ```
 ## Publish dummy commands
+> [!WARNING]  
+> Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
-ros2 run ur_robot_driver send_dummy_motion_primitives.py
+ros2 run ur_robot_driver send_dummy_motion_primitives_ur10e.py
 ```
 ## Publish stop motion command
 ```
@@ -121,17 +136,6 @@ ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_in
 ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 67, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
 ```
 
-## Start UR-Sim
-```
-docker run --rm -it universalrobots/ursim_e-series
-```
-
-## Enable Remote Control on UR
-Remote control needs to be enabled:
-https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.html
-
-
-
 # TODO's
 - if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
 - for the motion primitive driver `ur_joint_control.xacro` without command interfaces is needed: `motion_primitive_ur_joint_control.xacro` --> is there a better way than a copy of the file with commented command interfaces?
@@ -142,3 +146,25 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
 - ...
+
+
+
+# With MoveIt and Pilz-Planner
+**Mock Hardware**
+```
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2  use_mock_hardware:=true initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=false
+```
+**Simulation**
+```
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=true
+```
+**H-KA UR10e**
+```
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=false
+```
+**Using MoveIt**
+https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/move.html#start-hardware-simulator-or-mockup
+```
+ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
+```
+
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
new file mode 100755
index 000000000..b198f5593
--- /dev/null
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -0,0 +1,161 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2025, b»robotized
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Mathias Fuhrer
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
+
+joint_velocity = 1.0
+joint_acceleration = 1.0
+cart_velocity = 0.5
+cart_acceleration = 0.5
+
+# Joint movement to home position
+msg_moveJ_1 = MotionPrimitive()
+msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
+msg_moveJ_1.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
+msg_moveJ_1.blend_radius = 0.1
+msg_moveJ_1.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=joint_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
+]   # MotionArgument(argument_name="move_time", argument_value=0.0),
+
+# Linear movement down
+msg_moveL_1 = MotionPrimitive()
+msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
+msg_moveL_1.blend_radius = 0.05
+msg_moveL_1.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+]   
+pose_L1 = PoseStamped()
+pose_L1.pose.position.x = 0.174
+pose_L1.pose.position.y = -0.692
+pose_L1.pose.position.z = 0.1
+pose_L1.pose.orientation.x = 1.0
+pose_L1.pose.orientation.y = 0.0
+pose_L1.pose.orientation.z = 0.0
+pose_L1.pose.orientation.w = 0.0
+msg_moveL_1.poses = [pose_L1]
+
+# Linear movement up
+msg_moveL_2 = MotionPrimitive()
+msg_moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
+msg_moveL_2.blend_radius = 0.05
+msg_moveL_2.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+]
+pose_L2 = PoseStamped()
+pose_L2.pose.position.x = 0.174
+pose_L2.pose.position.y = -0.692
+pose_L2.pose.position.z = 0.5
+pose_L2.pose.orientation.x = 1.0
+pose_L2.pose.orientation.y = 0.0
+pose_L2.pose.orientation.z = 0.0
+pose_L2.pose.orientation.w = 0.0
+msg_moveL_2.poses = [pose_L2]
+
+# Joint movement
+msg_moveJ_2 = MotionPrimitive()
+msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
+msg_moveJ_2.blend_radius = 0.1
+msg_moveJ_2.joint_positions = [0.9, -1.57, 1.57, -1.57, -1.57, -1.57] # xyz = 0.294, 0.650, 0.677
+msg_moveJ_2.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=joint_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
+]   
+
+# Circular movement
+msg_moveC_1 = MotionPrimitive()
+msg_moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
+msg_moveC_1.blend_radius = 0.0
+msg_moveC_1.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+]
+pose_C1_via = PoseStamped()
+pose_C1_via.pose.position.x = 0.174
+pose_C1_via.pose.position.y = -0.9
+pose_C1_via.pose.position.z = 0.5
+pose_C1_via.pose.orientation.x = 1.0
+pose_C1_via.pose.orientation.y = 0.0
+pose_C1_via.pose.orientation.z = 0.0
+pose_C1_via.pose.orientation.w = 0.0
+pose_C1_goal = PoseStamped()
+pose_C1_goal.pose.position.x = 0.5
+pose_C1_goal.pose.position.y = -0.692
+pose_C1_goal.pose.position.z = 0.5
+pose_C1_goal.pose.orientation.x = 1.0
+pose_C1_goal.pose.orientation.y = 0.0
+pose_C1_goal.pose.orientation.z = 0.0
+pose_C1_goal.pose.orientation.w = 0.0
+msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
+
+msg_start_sequence = MotionPrimitive()
+msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
+
+msg_end_sequence = MotionPrimitive()
+msg_end_sequence.type = MotionPrimitive.MOTION_SEQUENCE_END
+
+
+msg_moveL_3 = MotionPrimitive()
+msg_moveL_3.type = MotionPrimitive.LINEAR_CARTESIAN
+msg_moveL_3.blend_radius = 0.05
+msg_moveL_3.additional_arguments = [
+    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
+    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+]
+msg_moveL_3.poses = [pose_C1_goal]
+
+class MotionPublisher(Node):
+    def __init__(self):
+        super().__init__("motion_publisher")
+
+        self.publisher_ = self.create_publisher(
+            MotionPrimitive, "/motion_primitive_controller/reference", 10
+        )
+
+        # self.messages = [msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1]
+        # self.messages = [msg_start_sequence, msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_end_sequence]
+        self.messages = [msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_start_sequence, msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_end_sequence]
+
+        self.get_logger().info(f"Number of messages: {len(self.messages)}")
+
+        self.send_all_messages()
+
+    def send_all_messages(self):
+        for i, msg in enumerate(self.messages):
+            self.get_logger().info(f"Sending message {i + 1} of {len(self.messages)}")
+            self.publisher_.publish(msg)
+            self.get_logger().info(f"Sent message {i + 1}: {msg}")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MotionPublisher()
+    rclpy.spin_once(node, timeout_sec=1)
+
+    # Cleanup
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py
similarity index 100%
rename from ur_robot_driver/examples/send_dummy_motion_primitives.py
rename to ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py
diff --git a/ur_robot_driver/examples/send_joint_positions.py b/ur_robot_driver/examples/send_joint_positions.py
new file mode 100755
index 000000000..4d23b2523
--- /dev/null
+++ b/ur_robot_driver/examples/send_joint_positions.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2025, b»robotized
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Mathias Fuhrer
+
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+import time
+
+class TrajectoryPublisher(Node):
+    def __init__(self):
+        super().__init__('trajectory_publisher')
+        self.publisher_ = self.create_publisher(JointTrajectory, '/scaled_joint_trajectory_controller/joint_trajectory', 10)
+        time.sleep(1)  # Allow time for publisher to be ready
+
+    def publish_trajectory_startponit(self):
+        msg = JointTrajectory()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
+        msg.points = [JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=3).to_msg())] # H-KA UR10e
+        self.publisher_.publish(msg)
+        self.get_logger().info('Trajectory startpoint published successfully.')
+
+    def publish_trajectory_sequence(self):
+        msg = JointTrajectory()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
+
+        # Define multiple trajectory points
+        # H-KA UR10e
+        points = [
+            # JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=).to_msg()),
+            JointTrajectoryPoint(positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=1).to_msg()),
+            JointTrajectoryPoint(positions=[2.0, -0.9, 0.7, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=2).to_msg()),
+            JointTrajectoryPoint(positions=[2.4, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=3).to_msg()),
+            JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=4).to_msg()),
+            JointTrajectoryPoint(positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=5).to_msg()),
+            JointTrajectoryPoint(positions=[1.1, -0.9, 0.7, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=6).to_msg()),
+            JointTrajectoryPoint(positions=[0.7, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=7).to_msg()),
+            JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=8).to_msg()),
+        ]
+
+        msg.points = points
+        self.publisher_.publish(msg)
+        self.get_logger().info('Trajectory sequence published successfully.')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TrajectoryPublisher()
+    node.publish_trajectory_startponit()
+    time.sleep(4)
+    for _ in range(1):
+        node.publish_trajectory_sequence()
+        time.sleep(8)   # Adjust time to sequence length
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file

From 1d8033af68ec9dcc8b36ae2b5afabc393bc1035c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 28 May 2025 12:37:01 +0200
Subject: [PATCH 49/99] Reverted the outsourcing of state-interface
 functionallity to stateinterface_helper.hpp

---
 .../ur_robot_driver/hardware_interface.hpp    |  89 +++-
 .../ur_robot_driver/stateinterface_helper.hpp | 447 ------------------
 ur_robot_driver/src/hardware_interface.cpp    | 339 +++++++++++--
 3 files changed, 379 insertions(+), 496 deletions(-)
 delete mode 100644 ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index fb3721031..4320a306e 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -34,9 +34,6 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2019-04-11
  *
- * \author  Mathias Fuhrer
- * \date    2025-04-11
- *
  */
 //----------------------------------------------------------------------
 #ifndef UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
@@ -66,11 +63,15 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
-// Helper class to outsource state interface stuff
-#include "ur_robot_driver/stateinterface_helper.hpp"
-
 namespace ur_robot_driver
 {
+enum class PausingState
+{
+  PAUSED,
+  RUNNING,
+  RAMPUP
+};
+
 enum StoppingInterface
 {
   NONE,
@@ -81,6 +82,28 @@ enum StoppingInterface
   STOP_FREEDRIVE,
 };
 
+// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
+// interfaces.
+struct Quaternion
+{
+  Quaternion() : x(0), y(0), z(0), w(0)
+  {
+  }
+
+  void set(const tf2::Quaternion& q)
+  {
+    x = q.x();
+    y = q.y();
+    z = q.z();
+    w = q.w();
+  }
+
+  double x;
+  double y;
+  double z;
+  double w;
+};
+
 /*!
  * \brief The HardwareInterface class handles the interface between the ROS system and the main
  * driver. It contains the read and write methods of the main control loop and registers various ROS
@@ -150,11 +173,40 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   urcl::vector6d_t urcl_position_commands_;
   urcl::vector6d_t urcl_position_commands_old_;
   urcl::vector6d_t urcl_velocity_commands_;
+  urcl::vector6d_t urcl_joint_positions_;
+  urcl::vector6d_t urcl_joint_velocities_;
+  urcl::vector6d_t urcl_joint_efforts_;
+  urcl::vector6d_t urcl_ft_sensor_measurements_;
+  urcl::vector6d_t urcl_tcp_pose_;
+  urcl::vector6d_t urcl_target_tcp_pose_;
+  urcl::vector6d_t tcp_offset_;
+  tf2::Quaternion tcp_rotation_quat_;
+  Quaternion tcp_rotation_buffer;
 
   bool packet_read_;
 
+  uint32_t runtime_state_;
   bool controllers_initialized_;
 
+  std::bitset<18> actual_dig_out_bits_;
+  std::bitset<18> actual_dig_in_bits_;
+  std::array<double, 2> standard_analog_input_;
+  std::array<double, 2> standard_analog_output_;
+  std::bitset<4> analog_io_types_;
+  uint32_t tool_mode_;
+  std::bitset<2> tool_analog_input_types_;
+  std::array<double, 2> tool_analog_input_;
+  int32_t tool_output_voltage_;
+  double tool_output_current_;
+  double tool_temperature_;
+  double speed_scaling_;
+  double target_speed_fraction_;
+  double speed_scaling_combined_;
+  int32_t robot_mode_;
+  int32_t safety_mode_;
+  std::bitset<4> robot_status_bits_;
+  std::bitset<11> safety_status_bits_;
+
   // asynchronous commands
   std::array<double, 18> standard_dig_out_bits_cmd_;
   std::array<double, 2> standard_analog_output_cmd_;
@@ -171,7 +223,12 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double hand_back_control_async_success_;
   bool first_pass_;
   bool initialized_;
+  double system_interface_initialized_;
   std::atomic_bool async_thread_shutdown_;
+  double get_robot_software_version_major_;
+  double get_robot_software_version_minor_;
+  double get_robot_software_version_bugfix_;
+  double get_robot_software_version_build_;
 
   // Freedrive mode controller interface values
   bool freedrive_activated_;
@@ -206,8 +263,21 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double force_mode_damping_;
   double force_mode_gain_scaling_;
 
+  // copy of non double values
+  std::array<double, 18> actual_dig_out_bits_copy_;
+  std::array<double, 18> actual_dig_in_bits_copy_;
+  std::array<double, 4> analog_io_types_copy_;
+  double tool_mode_copy_;
+  std::array<double, 2> tool_analog_input_types_copy_;
+  double tool_output_voltage_copy_;
+  double robot_mode_copy_;
+  double safety_mode_copy_;
+  std::array<double, 4> robot_status_bits_copy_;
+  std::array<double, 11> safety_status_bits_copy_;
+
   bool robot_program_running_;
   bool non_blocking_read_;
+  double robot_program_running_copy_;
 
   /* Vectors used to store the trajectory received from the passthrough trajectory controller. The whole trajectory is
    * received before it is sent to the robot. */
@@ -216,6 +286,9 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   std::vector<std::array<double, 6>> trajectory_joint_accelerations_;
   std::vector<double> trajectory_times_;
 
+  PausingState pausing_state_;
+  double pausing_ramp_up_increment_;
+
   // resources switching aux vars
   std::vector<std::vector<uint>> stop_modes_;
   std::vector<std::vector<std::string>> start_modes_;
@@ -233,9 +306,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   const std::string PASSTHROUGH_GPIO = "trajectory_passthrough";
   const std::string FORCE_MODE_GPIO = "force_mode";
   const std::string FREEDRIVE_MODE_GPIO = "freedrive_mode";
-
-  URStateHelper state_helper_;  // Helper class to handle state interface stuff
 };
 }  // namespace ur_robot_driver
 
-#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
+#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
\ No newline at end of file
diff --git a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp b/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
deleted file mode 100644
index ecaf0ea4b..000000000
--- a/ur_robot_driver/include/ur_robot_driver/stateinterface_helper.hpp
+++ /dev/null
@@ -1,447 +0,0 @@
-// Copyright 2019 FZI Forschungszentrum Informatik
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the {copyright_holder} nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-//----------------------------------------------------------------------
-/*!\file
- *
- * \author  Lovro Ivanov lovro.ivanov@gmail.com
- * \author  Andy Zelenak zelenak@picknik.ai
- * \author  Marvin Große Besselmann grosse@fzi.de
- * \date    2019-04-11
- *
- * \author  Mathias Fuhrer
- * \date    2025-04-11
- *
- */
-//----------------------------------------------------------------------
-#pragma once
-
-#include <bitset>
-#include <vector>
-#include <array>
-#include <algorithm>
-#include <memory>
-#include <string>
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-
-namespace rtde = urcl::rtde_interface;
-
-namespace ur_robot_driver
-{
-
-enum class PausingState
-{
-  PAUSED,
-  RUNNING,
-  RAMPUP
-};
-
-// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
-// interfaces.
-struct Quaternion
-{
-  Quaternion() : x(0), y(0), z(0), w(0)
-  {
-  }
-
-  void set(const tf2::Quaternion& q)
-  {
-    x = q.x();
-    y = q.y();
-    z = q.z();
-    w = q.w();
-  }
-
-  double x;
-  double y;
-  double z;
-  double w;
-};
-
-class URStateHelper
-{
-public:
-  URStateHelper() = default;
-
-  void initialize()
-  {
-    urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-    urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-    urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-    urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-    urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
-    runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
-    pausing_state_ = PausingState::RUNNING;
-    pausing_ramp_up_increment_ = 0.01;
-    system_interface_initialized_ = 0.0;
-  }
-
-  void setRobotSoftwareVersion(const urcl::VersionInformation& version_info)
-  {
-    get_robot_software_version_major_ = version_info.major;
-    get_robot_software_version_minor_ = version_info.minor;
-    get_robot_software_version_build_ = version_info.build;
-    get_robot_software_version_bugfix_ = version_info.bugfix;
-  }
-
-  std::vector<hardware_interface::StateInterface> generate_state_interfaces(std::vector<std::string>& joint_names,
-                                                                            std::string& tf_prefix,
-                                                                            std::vector<std::string>& sensor_names)
-  {
-    std::vector<hardware_interface::StateInterface> state_interfaces;
-
-    // Joints
-    for (size_t i = 0; i < joint_names.size(); ++i) {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          joint_names[i], hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          joint_names[i], hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(joint_names[i], hardware_interface::HW_IF_EFFORT,
-                                                                       &urcl_joint_efforts_[i]));
-    }
-
-    // Speed scaling
-    state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling",
-                                                                     "speed_scaling_factor", &speed_scaling_combined_));
-
-    // Force-torque sensor
-    for (const auto& sensor : sensor_names) {
-      if (sensor == tf_prefix + "tcp_fts_sensor") {
-        const std::vector<std::string> fts_names = {
-          "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
-        };
-        for (uint j = 0; j < 6; ++j) {
-          state_interfaces.emplace_back(
-              hardware_interface::StateInterface(sensor, fts_names[j], &urcl_ft_sensor_measurements_[j]));
-        }
-      }
-    }
-
-    // GPIO
-    for (size_t i = 0; i < 18; ++i) {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
-    }
-
-    for (size_t i = 0; i < 11; ++i) {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
-    }
-
-    for (size_t i = 0; i < 4; ++i) {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
-    }
-
-    for (size_t i = 0; i < 2; ++i) {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-          tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
-    }
-
-    // Other states
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
-                                                                     &system_interface_initialized_));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
-
-    // TCP pose
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
-
-    // TCP rotation
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer_.x));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer_.y));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer_.z));
-    state_interfaces.emplace_back(
-        hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer_.w));
-
-    // Software version
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
-    state_interfaces.emplace_back(hardware_interface::StateInterface(
-        tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
-
-    return state_interfaces;
-  }
-
-  void processStateData(std::unique_ptr<rtde::DataPackage>& data_pkg, bool& initialized, bool& robot_program_running)
-  {
-    if (!data_pkg) {
-      return;
-    }
-
-    readData(data_pkg, "actual_q", urcl_joint_positions_);
-    readData(data_pkg, "actual_qd", urcl_joint_velocities_);
-    readData(data_pkg, "actual_current", urcl_joint_efforts_);
-    readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
-    readData(data_pkg, "speed_scaling", speed_scaling_);
-    readData(data_pkg, "runtime_state", runtime_state_);
-    readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
-    readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
-    readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
-    readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
-    readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
-    readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
-    readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
-    readData(data_pkg, "tool_mode", tool_mode_);
-    readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
-    readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
-    readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
-    readData(data_pkg, "tool_output_current", tool_output_current_);
-    readData(data_pkg, "tool_temperature", tool_temperature_);
-    readData(data_pkg, "robot_mode", robot_mode_);
-    readData(data_pkg, "safety_mode", safety_mode_);
-    readData(data_pkg, "tcp_offset", tcp_offset_);
-
-    readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
-    readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
-    readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
-    readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
-    readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
-    readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
-
-    extractToolPose();
-    transformForceTorque();
-
-    // pausing state follows runtime state when pausing
-    if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
-      pausing_state_ = PausingState::PAUSED;
-    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
-               pausing_state_ == PausingState::PAUSED) {
-      // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
-      speed_scaling_combined_ = 0.0;
-      pausing_state_ = PausingState::RAMPUP;
-    }
-
-    if (pausing_state_ == PausingState::RAMPUP) {
-      double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
-      speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
-
-      if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
-        pausing_state_ = PausingState::RUNNING;
-      }
-    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
-      // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
-      // continuing to interpolate
-      speed_scaling_combined_ = 0.0;
-    } else {
-      // Normal case
-      speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
-    }
-
-    updateNonDoubleValues(initialized, robot_program_running);
-  }
-  // Public member variables
-  urcl::vector6d_t urcl_joint_positions_;
-  uint32_t runtime_state_;
-
-private:
-  void updateNonDoubleValues(bool initialized, bool robot_program_running)
-  {
-    for (size_t i = 0; i < 18; ++i) {
-      actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
-      actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
-    }
-
-    for (size_t i = 0; i < 11; ++i) {
-      safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
-    }
-
-    for (size_t i = 0; i < 4; ++i) {
-      analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
-      robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
-    }
-
-    for (size_t i = 0; i < 2; ++i) {
-      tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
-    }
-
-    tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
-    robot_mode_copy_ = static_cast<double>(robot_mode_);
-    safety_mode_copy_ = static_cast<double>(safety_mode_);
-    tool_mode_copy_ = static_cast<double>(tool_mode_);
-    system_interface_initialized_ = initialized ? 1.0 : 0.0;
-    robot_program_running_copy_ = robot_program_running ? 1.0 : 0.0;
-  }
-
-  template <typename T>
-  void readData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name, T& data)
-  {
-    if (!data_pkg->getData(var_name, data)) {
-      // This throwing should never happen unless misconfigured
-      std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-      throw std::runtime_error(error_msg);
-    }
-  }
-
-  template <typename T, size_t N>
-  void readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name,
-                      std::bitset<N>& data)
-  {
-    if (!data_pkg->getData<T, N>(var_name, data)) {
-      // This throwing should never happen unless misconfigured
-      std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
-      throw std::runtime_error(error_msg);
-    }
-  }
-
-  void extractToolPose()
-  {
-    // imported from ROS1 driver hardware_interface.cpp#L911-L928
-    double tcp_angle =
-        std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
-
-    tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
-    if (tcp_angle > 1e-16) {
-      tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
-    } else {
-      tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
-    }
-    tcp_rotation_buffer_.set(tcp_rotation_quat_);
-  }
-
-  void transformForceTorque()
-  {
-    KDL::Wrench ft(
-        KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
-        KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
-    if (get_robot_software_version_major_ >= 5)  // e-Series
-    {
-      // Setup necessary frames
-      KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
-      double angle = vec.Normalize();
-      KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
-      KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
-
-      vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-      angle = vec.Normalize();
-      rotation = KDL::Rotation::Rot(vec, angle);
-      KDL::Frame base_to_tcp = KDL::Frame(
-          rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
-      // Calculate transformation from base to flange, see calculation details below
-      // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
-      KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
-      // rotate f/t sensor output back to the flange frame
-      ft = base_to_flange.M.Inverse() * ft;
-
-      // Transform the wrench to the tcp frame
-      ft = flange_to_tcp * ft;
-    } else {  // CB3
-      KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
-      double angle = vec.Normalize();
-      KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
-
-      // rotate f/t sensor output back to the tcp frame
-      ft = base_to_tcp_rot.Inverse() * ft;
-    }
-    urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
-  }
-
-  // Private member variables
-  urcl::vector6d_t urcl_joint_velocities_;
-  urcl::vector6d_t urcl_joint_efforts_;
-  double target_speed_fraction_;
-  double speed_scaling_;
-  urcl::vector6d_t urcl_ft_sensor_measurements_;
-  urcl::vector6d_t urcl_tcp_pose_;
-  std::array<double, 2> standard_analog_input_;
-  std::array<double, 2> standard_analog_output_;
-  std::array<double, 2> tool_analog_input_;
-  double tool_output_current_;
-  double tool_temperature_;
-  std::bitset<4> robot_status_bits_;
-  std::array<double, 4> robot_status_bits_copy_;
-  std::bitset<11> safety_status_bits_;
-  std::array<double, 11> safety_status_bits_copy_;
-  std::bitset<18> actual_dig_in_bits_;
-  std::array<double, 18> actual_dig_in_bits_copy_;
-  std::bitset<4> analog_io_types_;
-  std::array<double, 4> analog_io_types_copy_;
-  std::bitset<2> tool_analog_input_types_;
-  std::array<double, 2> tool_analog_input_types_copy_;
-  tf2::Quaternion tcp_rotation_quat_;
-  ur_robot_driver::Quaternion tcp_rotation_buffer_;
-  // tf2::Vector3 tcp_force_;
-  // tf2::Vector3 tcp_torque_;
-  std::bitset<18> actual_dig_out_bits_;
-  std::array<double, 18> actual_dig_out_bits_copy_;
-  int32_t tool_output_voltage_;
-  double tool_output_voltage_copy_;
-  int32_t robot_mode_;
-  double robot_mode_copy_;
-  int32_t safety_mode_;
-  double safety_mode_copy_;
-  uint32_t tool_mode_;
-  double tool_mode_copy_;
-  double system_interface_initialized_;
-  double robot_program_running_copy_;
-  double speed_scaling_combined_;
-  double get_robot_software_version_major_;
-  double get_robot_software_version_minor_;
-  double get_robot_software_version_bugfix_;
-  double get_robot_software_version_build_;
-  PausingState pausing_state_;
-  double pausing_ramp_up_increment_;
-  urcl::vector6d_t urcl_target_tcp_pose_;
-  urcl::vector6d_t tcp_offset_;
-};
-
-}  // namespace ur_robot_driver
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index b777aad7e..7d45b61e8 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -34,9 +34,6 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2020-11-9
  *
- * \author  Mathias Fuhrer
- * \date    2025-04-11
- *
  */
 //----------------------------------------------------------------------
 #include <algorithm>
@@ -73,6 +70,11 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   info_ = system_info;
 
   // initialize
+  urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  urcl_joint_velocities_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  urcl_joint_efforts_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  urcl_ft_sensor_measurements_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
+  urcl_tcp_pose_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_position_commands_old_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
   urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
@@ -80,10 +82,14 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   velocity_controller_running_ = false;
   freedrive_mode_controller_running_ = false;
   passthrough_trajectory_controller_running_ = false;
+  runtime_state_ = static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED);
+  pausing_state_ = PausingState::RUNNING;
+  pausing_ramp_up_increment_ = 0.01;
   controllers_initialized_ = false;
   first_pass_ = true;
   initialized_ = false;
   async_thread_shutdown_ = false;
+  system_interface_initialized_ = 0.0;
   freedrive_mode_abort_ = 0.0;
   passthrough_trajectory_transfer_state_ = 0.0;
   passthrough_trajectory_abort_ = 0.0;
@@ -91,9 +97,6 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   trajectory_joint_velocities_.clear();
   trajectory_joint_accelerations_.clear();
 
-  // initialize member variables of URStateHelper
-  state_helper_.initialize();
-
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
     if (joint.command_interfaces.size() != 2) {
       RCLCPP_FATAL(rclcpp::get_logger("URPositionHardwareInterface"),
@@ -148,19 +151,121 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
 
 std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::export_state_interfaces()
 {
-  // extract joint names
-  std::vector<std::string> joint_names;
+  std::vector<hardware_interface::StateInterface> state_interfaces;
   for (size_t i = 0; i < info_.joints.size(); ++i) {
-    joint_names.push_back(info_.joints[i].name);
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &urcl_joint_positions_[i]));
+
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_joint_velocities_[i]));
+
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_joint_efforts_[i]));
   }
 
-  // extract sensor names
-  std::vector<std::string> sensor_names;
-  for (size_t i = 0; i < info_.sensors.size(); ++i) {
-    sensor_names.push_back(info_.sensors[i].name);
+  // Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
+  // NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio
+  // state interface in info_ and match them accordingly
+  const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
+  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "speed_scaling", "speed_scaling_factor",
+                                                                   &speed_scaling_combined_));
+
+  for (auto& sensor : info_.sensors) {
+    if (sensor.name == tf_prefix + "tcp_fts_sensor") {
+      const std::vector<std::string> fts_names = {
+        "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
+      };
+      for (uint j = 0; j < 6; ++j) {
+        state_interfaces.emplace_back(
+            hardware_interface::StateInterface(sensor.name, fts_names[j], &urcl_ft_sensor_measurements_[j]));
+      }
+    }
   }
 
-  return state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
+  for (size_t i = 0; i < 18; ++i) {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "digital_output_" + std::to_string(i), &actual_dig_out_bits_copy_[i]));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "digital_input_" + std::to_string(i), &actual_dig_in_bits_copy_[i]));
+  }
+
+  for (size_t i = 0; i < 11; ++i) {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "safety_status_bit_" + std::to_string(i), &safety_status_bits_copy_[i]));
+  }
+
+  for (size_t i = 0; i < 4; ++i) {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "analog_io_type_" + std::to_string(i), &analog_io_types_copy_[i]));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "robot_status_bit_" + std::to_string(i), &robot_status_bits_copy_[i]));
+  }
+
+  for (size_t i = 0; i < 2; ++i) {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "tool_analog_input_type_" + std::to_string(i), &tool_analog_input_types_copy_[i]));
+
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "tool_analog_input_" + std::to_string(i), &tool_analog_input_[i]));
+
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "standard_analog_input_" + std::to_string(i), &standard_analog_input_[i]));
+
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        tf_prefix + "gpio", "standard_analog_output_" + std::to_string(i), &standard_analog_output_[i]));
+  }
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_voltage", &tool_output_voltage_copy_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "robot_mode", &robot_mode_copy_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "safety_mode", &safety_mode_copy_));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "gpio", "tool_mode", &tool_mode_copy_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_output_current", &tool_output_current_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "tool_temperature", &tool_temperature_));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + "system_interface", "initialized",
+                                                                   &system_interface_initialized_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "gpio", "program_running", &robot_program_running_copy_));
+
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.x", &urcl_tcp_pose_[0]));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.y", &urcl_tcp_pose_[1]));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "position.z", &urcl_tcp_pose_[2]));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.x", &tcp_rotation_buffer.x));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.y", &tcp_rotation_buffer.y));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.z", &tcp_rotation_buffer.z));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface(tf_prefix + "tcp_pose", "orientation.w", &tcp_rotation_buffer.w));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+      tf_prefix + "get_robot_software_version", "get_version_major", &get_robot_software_version_major_));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+      tf_prefix + "get_robot_software_version", "get_version_minor", &get_robot_software_version_minor_));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+      tf_prefix + "get_robot_software_version", "get_version_bugfix", &get_robot_software_version_bugfix_));
+
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+      tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
+
+  return state_interfaces;
 }
 
 std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::export_command_interfaces()
@@ -417,24 +522,11 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   registerUrclLogHandler(tf_prefix);
   try {
     rtde_comm_has_been_started_ = false;
-    urcl::UrDriverConfiguration driver_config;
-    driver_config.robot_ip = robot_ip;
-    driver_config.script_file = script_filename;
-    driver_config.output_recipe_file = output_recipe_filename;
-    driver_config.input_recipe_file = input_recipe_filename;
-    driver_config.headless_mode = headless_mode;
-    driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
-    driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
-    driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
-    driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
-    driver_config.reverse_ip = reverse_ip;
-    driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
-    driver_config.servoj_lookahead_time = servoj_lookahead_time;
-    driver_config.non_blocking_read = non_blocking_read_;
-    driver_config.tool_comm_setup = std::move(tool_comm_setup);
-    driver_config.handle_program_state =
-        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1);
-    ur_driver_ = std::make_unique<urcl::UrDriver>(driver_config);
+    ur_driver_ = std::make_unique<urcl::UrDriver>(
+        robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
+        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
+        std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
+        servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
   } catch (urcl::ToolCommNotAvailable& e) {
     RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");
 
@@ -465,7 +557,10 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
 
   // Export version information to state interfaces
   urcl::VersionInformation version_info = ur_driver_->getVersion();
-  state_helper_.setRobotSoftwareVersion(version_info);
+  get_robot_software_version_major_ = version_info.major;
+  get_robot_software_version_minor_ = version_info.minor;
+  get_robot_software_version_build_ = version_info.build;
+  get_robot_software_version_bugfix_ = version_info.bugfix;
 
   async_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncThread, this);
 
@@ -525,6 +620,28 @@ hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
+template <typename T>
+void URPositionHardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
+                                           const std::string& var_name, T& data)
+{
+  if (!data_pkg->getData(var_name, data)) {
+    // This throwing should never happen unless misconfigured
+    std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+    throw std::runtime_error(error_msg);
+  }
+}
+
+template <typename T, size_t N>
+void URPositionHardwareInterface::readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg,
+                                                 const std::string& var_name, std::bitset<N>& data)
+{
+  if (!data_pkg->getData<T, N>(var_name, data)) {
+    // This throwing should never happen unless misconfigured
+    std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
+    throw std::runtime_error(error_msg);
+  }
+}
+
 void URPositionHardwareInterface::asyncThread()
 {
   async_thread_shutdown_ = false;
@@ -550,13 +667,72 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
   if (data_pkg) {
     packet_read_ = true;
+    readData(data_pkg, "actual_q", urcl_joint_positions_);
+    readData(data_pkg, "actual_qd", urcl_joint_velocities_);
+    readData(data_pkg, "actual_current", urcl_joint_efforts_);
+
+    readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
+    readData(data_pkg, "speed_scaling", speed_scaling_);
+    readData(data_pkg, "runtime_state", runtime_state_);
+    readData(data_pkg, "actual_TCP_force", urcl_ft_sensor_measurements_);
+    readData(data_pkg, "actual_TCP_pose", urcl_tcp_pose_);
+    readData(data_pkg, "target_TCP_pose", urcl_target_tcp_pose_);
+    readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
+    readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
+    readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
+    readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
+    readData(data_pkg, "tool_mode", tool_mode_);
+    readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
+    readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
+    readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
+    readData(data_pkg, "tool_output_current", tool_output_current_);
+    readData(data_pkg, "tool_temperature", tool_temperature_);
+    readData(data_pkg, "robot_mode", robot_mode_);
+    readData(data_pkg, "safety_mode", safety_mode_);
+    readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
+    readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
+    readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
+    readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
+    readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
+    readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
+    readData(data_pkg, "tcp_offset", tcp_offset_);
+
+    // required transforms
+    extractToolPose();
+    transformForceTorque();
+
+    // TODO(anyone): logic for sending other stuff to higher level interface
+
+    // pausing state follows runtime state when pausing
+    if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED)) {
+      pausing_state_ = PausingState::PAUSED;
+    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
+               pausing_state_ == PausingState::PAUSED) {
+      // When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
+      speed_scaling_combined_ = 0.0;
+      pausing_state_ = PausingState::RAMPUP;
+    }
 
-    state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
+    if (pausing_state_ == PausingState::RAMPUP) {
+      double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
+      speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
+
+      if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_) {
+        pausing_state_ = PausingState::RUNNING;
+      }
+    } else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING)) {
+      // We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
+      // continuing to interpolate
+      speed_scaling_combined_ = 0.0;
+    } else {
+      // Normal case
+      speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
+    }
 
     if (first_pass_ && !initialized_) {
       initAsyncIO();
       // initialize commands
-      urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
+      urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
       urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
       target_speed_fraction_cmd_ = NO_NEW_CMD_;
       resend_robot_program_cmd_ = NO_NEW_CMD_;
@@ -567,6 +743,9 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
       freedrive_mode_enable_ = NO_NEW_CMD_;
       initialized_ = true;
     }
+
+    updateNonDoubleValues();
+
     return hardware_interface::return_type::OK;
   }
   if (!non_blocking_read_)
@@ -581,8 +760,8 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
   // If there is no interpreting program running on the robot, we do not want to send anything.
   // TODO(anyone): We would still like to disable the controllers requiring a writable interface. In ROS1
   // this was done externally using the controller_stopper.
-  if ((state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
-       state_helper_.runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
+  if ((runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
+       runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
       robot_program_running_ && (!non_blocking_read_ || packet_read_)) {
     if (position_controller_running_) {
       ur_driver_->writeJointCommand(urcl_position_commands_, urcl::comm::ControlMode::MODE_SERVOJ, receive_timeout_);
@@ -727,6 +906,86 @@ void URPositionHardwareInterface::checkAsyncIO()
   }
 }
 
+void URPositionHardwareInterface::updateNonDoubleValues()
+{
+  for (size_t i = 0; i < 18; ++i) {
+    actual_dig_out_bits_copy_[i] = static_cast<double>(actual_dig_out_bits_[i]);
+    actual_dig_in_bits_copy_[i] = static_cast<double>(actual_dig_in_bits_[i]);
+  }
+
+  for (size_t i = 0; i < 11; ++i) {
+    safety_status_bits_copy_[i] = static_cast<double>(safety_status_bits_[i]);
+  }
+
+  for (size_t i = 0; i < 4; ++i) {
+    analog_io_types_copy_[i] = static_cast<double>(analog_io_types_[i]);
+    robot_status_bits_copy_[i] = static_cast<double>(robot_status_bits_[i]);
+  }
+
+  for (size_t i = 0; i < 2; ++i) {
+    tool_analog_input_types_copy_[i] = static_cast<double>(tool_analog_input_types_[i]);
+  }
+
+  tool_output_voltage_copy_ = static_cast<double>(tool_output_voltage_);
+  robot_mode_copy_ = static_cast<double>(robot_mode_);
+  safety_mode_copy_ = static_cast<double>(safety_mode_);
+  tool_mode_copy_ = static_cast<double>(tool_mode_);
+  system_interface_initialized_ = initialized_ ? 1.0 : 0.0;
+  robot_program_running_copy_ = robot_program_running_ ? 1.0 : 0.0;
+}
+
+void URPositionHardwareInterface::transformForceTorque()
+{
+  KDL::Wrench ft(
+      KDL::Vector(urcl_ft_sensor_measurements_[0], urcl_ft_sensor_measurements_[1], urcl_ft_sensor_measurements_[2]),
+      KDL::Vector(urcl_ft_sensor_measurements_[3], urcl_ft_sensor_measurements_[4], urcl_ft_sensor_measurements_[5]));
+  if (ur_driver_->getVersion().major >= 5)  // e-Series
+  {
+    // Setup necessary frames
+    KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
+    double angle = vec.Normalize();
+    KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
+    KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
+
+    vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+    angle = vec.Normalize();
+    rotation = KDL::Rotation::Rot(vec, angle);
+    KDL::Frame base_to_tcp =
+        KDL::Frame(rotation, KDL::Vector(urcl_target_tcp_pose_[0], urcl_target_tcp_pose_[1], urcl_target_tcp_pose_[2]));
+    // Calculate transformation from base to flange, see calculation details below
+    // `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
+    KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
+    // rotate f/t sensor output back to the flange frame
+    ft = base_to_flange.M.Inverse() * ft;
+
+    // Transform the wrench to the tcp frame
+    ft = flange_to_tcp * ft;
+  } else {  // CB3
+    KDL::Vector vec = KDL::Vector(urcl_target_tcp_pose_[3], urcl_target_tcp_pose_[4], urcl_target_tcp_pose_[5]);
+    double angle = vec.Normalize();
+    KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
+
+    // rotate f/t sensor output back to the tcp frame
+    ft = base_to_tcp_rot.Inverse() * ft;
+  }
+  urcl_ft_sensor_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
+}
+
+void URPositionHardwareInterface::extractToolPose()
+{
+  // imported from ROS1 driver hardware_interface.cpp#L911-L928
+  double tcp_angle =
+      std::sqrt(std::pow(urcl_tcp_pose_[3], 2) + std::pow(urcl_tcp_pose_[4], 2) + std::pow(urcl_tcp_pose_[5], 2));
+
+  tf2::Vector3 rotation_vec(urcl_tcp_pose_[3], urcl_tcp_pose_[4], urcl_tcp_pose_[5]);
+  if (tcp_angle > 1e-16) {
+    tcp_rotation_quat_.setRotation(rotation_vec.normalized(), tcp_angle);
+  } else {
+    tcp_rotation_quat_.setValue(0.0, 0.0, 0.0, 1.0);  // default Quaternion is 0,0,0,0 which is invalid
+  }
+  tcp_rotation_buffer.set(tcp_rotation_quat_);
+}
+
 hardware_interface::return_type URPositionHardwareInterface::prepare_command_mode_switch(
     const std::vector<std::string>& start_interfaces, const std::vector<std::string>& stop_interfaces)
 {
@@ -948,7 +1207,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
   if (stop_modes_[0].size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
                                               StoppingInterface::STOP_POSITION) != stop_modes_[0].end()) {
     position_controller_running_ = false;
-    urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
+    urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
   } else if (stop_modes_[0].size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
                                                      StoppingInterface::STOP_VELOCITY) != stop_modes_[0].end()) {
     velocity_controller_running_ = false;
@@ -975,7 +1234,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
                                             hardware_interface::HW_IF_POSITION) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     passthrough_trajectory_controller_running_ = false;
-    urcl_position_commands_ = urcl_position_commands_old_ = state_helper_.urcl_joint_positions_;
+    urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
     position_controller_running_ = true;
 
   } else if (start_modes_[0].size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
@@ -1131,4 +1390,4 @@ bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<doubl
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
\ No newline at end of file

From 02a591b0b2ef985aaff9d8edaad06682f03548e0 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 28 May 2025 16:55:22 +0200
Subject: [PATCH 50/99] integrated motion_primitives_ur_driver into
 hardware_interface. build+launch succesfull. Executing primitives not working
 yet. Activating/ deactivating motion primitives mode during runtime not
 implemented yet.

---
 ur_robot_driver/CMakeLists.txt                |  26 -
 ur_robot_driver/README_MotionPrimitive.md     |  10 +-
 .../ur_robot_driver/hardware_interface.hpp    |  50 +-
 .../motion_primitives_ur_driver.hpp           | 124 ---
 .../motion_primitive_controller_ur.launch.py  | 505 ------------
 ur_robot_driver/launch/ur_control.launch.py   |  21 +-
 ur_robot_driver/launch/ur_rsp.launch.py       |  17 +-
 ...on_primitive_hardware_interface_plugin.xml |   9 -
 ur_robot_driver/package.xml                   |   2 +
 ur_robot_driver/src/hardware_interface.cpp    | 520 +++++++++++-
 .../src/motion_primitives_ur_driver.cpp       | 762 ------------------
 .../motion_primitive_ur.ros2_control.xacro    | 336 --------
 .../motion_primitive_ur_joint_control.xacro   |  93 ---
 ur_robot_driver/urdf/ur.ros2_control.xacro    |  32 +
 ur_robot_driver/urdf/ur.urdf.xacro            |  16 +-
 15 files changed, 621 insertions(+), 1902 deletions(-)
 delete mode 100644 ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
 delete mode 100644 ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
 delete mode 100644 ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
 delete mode 100644 ur_robot_driver/src/motion_primitives_ur_driver.cpp
 delete mode 100644 ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
 delete mode 100644 ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 5783eefee..d22fc15d8 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -62,44 +62,23 @@ add_library(ur_robot_driver_plugin
   src/urcl_log_handler.cpp
   src/robot_state_helper.cpp
 )
-add_library(ur_robot_motion_primitives_driver_plugin
-  SHARED
-  src/motion_primitives_ur_driver.cpp
-)
 target_link_libraries(
   ur_robot_driver_plugin
   ur_client_library::urcl
 )
-target_link_libraries(
-  ur_robot_motion_primitives_driver_plugin
-  ur_client_library::urcl
-)
 target_include_directories(
   ur_robot_driver_plugin
   PRIVATE
   include
 )
-target_include_directories(
-  ur_robot_motion_primitives_driver_plugin
-  PRIVATE
-  include
-)
 ament_target_dependencies(
   ur_robot_driver_plugin
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
-ament_target_dependencies(
-  ur_robot_motion_primitives_driver_plugin
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
-)
-
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)
 
-pluginlib_export_plugin_description_file(hardware_interface motion_primitive_hardware_interface_plugin.xml)
-
 #
 # dashboard_client
 #
@@ -145,10 +124,6 @@ install(
   TARGETS ur_robot_driver_plugin
   DESTINATION lib
 )
-install(
-  TARGETS ur_robot_motion_primitives_driver_plugin
-  DESTINATION lib
-)
 install(
   DIRECTORY include/
   DESTINATION include
@@ -160,7 +135,6 @@ ament_export_include_directories(
 )
 ament_export_libraries(
   ur_robot_driver_plugin
-  ur_robot_motion_primitives_driver_plugin
 )
 
 install(DIRECTORY resources
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index b5a8ee50a..f3033c810 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -1,6 +1,8 @@
 motion_primitives_ur_driver
 ==========================================
 
+# TODO(mathias31415): Readme anpassen --> motion_primitive_ur_driver wurde in hardware_interface integriert
+
 Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN/ LIN/ MOVEL), circular (CIRCULAR_CARTESIAN/ CIRC/ MOVEC), and joint-based (LINEAR_JOINT/ PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
@@ -112,20 +114,20 @@ ros2 run ur_client_library start_ursim.sh -m ur10e
 Remote control needs to be enabled:
 https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.html
 
-## Launch motion_primitives_ur_driver
+## Launch hardware_interface with motion_primitives_ur_driver
 With URSim:
 ```
-ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true
 ```
 With H-KA UR10e:
 ```
-ros2 launch ur_robot_driver motion_primitive_controller_ur.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true
 ```
 ## Publish dummy commands
 > [!WARNING]  
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
-ros2 run ur_robot_driver send_dummy_motion_primitives_ur10e.py
+ros2 run ur_robot_driver send_dummy_motion_primitives_hka_ur10e.py
 ```
 ## Publish stop motion command
 ```
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 4320a306e..70451b6d9 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -34,6 +34,9 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2019-04-11
  *
+ * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
+ * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * 
  */
 //----------------------------------------------------------------------
 #ifndef UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
@@ -52,6 +55,7 @@
 
 // UR stuff
 #include "ur_client_library/ur/ur_driver.h"
+#include "ur_client_library/ur/instruction_executor.h"
 #include "ur_client_library/ur/robot_receive_timeout.h"
 #include "ur_robot_driver/dashboard_client_ros.hpp"
 #include "ur_dashboard_msgs/msg/robot_mode.hpp"
@@ -63,6 +67,9 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
+#include "motion_primitives_forward_controller/execution_state.hpp"
+#include "motion_primitives_forward_controller/motion_type.hpp"
+
 namespace ur_robot_driver
 {
 enum class PausingState
@@ -263,6 +270,47 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double force_mode_damping_;
   double force_mode_gain_scaling_;
 
+  //*************** Motion primitives stuff ***************
+  std::shared_ptr<urcl::InstructionExecutor> instruction_executor_;
+
+  // Async thread handling
+  std::shared_ptr<std::thread> async_moprim_cmd_thread_;
+  std::shared_ptr<std::thread> async_moprim_stop_thread_;
+  std::atomic_bool async_moprim_thread_shutdown_;
+  std::mutex moprim_cmd_mutex_;
+  std::mutex moprim_stop_mutex_;
+
+  // Command buffer for thread-safe communication
+  std::vector<double> pending_moprim_cmd_;
+  std::atomic_bool new_moprim_cmd_available_;
+  std::atomic_bool new_moprim_stop_available_;
+  std::atomic_bool new_moprim_reset_available_;
+  
+  // Status for communication with controller
+  bool motion_primitives_forward_controller_running_;
+  std::atomic<int8_t> current_moprim_execution_status_;
+  std::atomic_bool ready_for_new_moprim_;
+
+  // Command and state interfaces for the motion primitives
+  std::vector<double> hw_moprim_commands_;
+  std::vector<double> hw_moprim_states_;
+
+  // flag to put all following primitives into a motion sequence instead of sending single primitives
+  std::atomic_bool build_moprim_sequence_{ false };
+  std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> moprim_sequence_;
+
+  void handleMoprimCommands();
+  void resetMoprimCmdInterfaces();
+  void asyncMoprimCmdThread();
+  void asyncMoprimStopThread();
+  void processMoprimMotionCmd(const std::vector<double>& command);
+  void processMoprimStopCmd();
+  void processMoprimResetCmd();
+  bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
+  bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
+  void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
+  //*************** End Motion primitives stuff ***************
+
   // copy of non double values
   std::array<double, 18> actual_dig_out_bits_copy_;
   std::array<double, 18> actual_dig_in_bits_copy_;
@@ -296,7 +344,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   bool velocity_controller_running_;
   bool force_mode_controller_running_ = false;
 
-  std::unique_ptr<urcl::UrDriver> ur_driver_;
+  std::shared_ptr<urcl::UrDriver> ur_driver_;   // cahnged to shared_ptr for instruction_executer
   std::shared_ptr<std::thread> async_thread_;
 
   std::atomic_bool rtde_comm_has_been_started_ = false;
diff --git a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp b/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
deleted file mode 100644
index 2c7857746..000000000
--- a/ur_robot_driver/include/ur_robot_driver/motion_primitives_ur_driver.hpp
+++ /dev/null
@@ -1,124 +0,0 @@
-// Copyright (c) 2025, b»robotized
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Authors: Mathias Fuhrer
-
-#ifndef UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
-#define UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#include "hardware_interface/system_interface.hpp"
-#include "hardware_interface/handle.hpp"
-#include "hardware_interface/hardware_info.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp_lifecycle/state.hpp"
-
-#include "ur_client_library/ur/ur_driver.h"
-#include "ur_client_library/ur/instruction_executor.h"
-
-#include "ur_robot_driver/stateinterface_helper.hpp"
-
-#include "motion_primitives_forward_controller/execution_state.hpp"
-
-namespace ur_robot_driver
-{
-class MotionPrimitivesUrDriver : public hardware_interface::SystemInterface
-{
-public:
-  virtual ~MotionPrimitivesUrDriver();
-
-  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
-
-  hardware_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
-
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
-
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
-
-  hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
-
-  hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
-
-  hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-  hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
-  /*!
-   * \brief Callback to handle a change in the current state of the URCaps program running on the
-   * robot. Executed only on the state change.
-   *
-   * \param program_running True when the URCap program is running on the robot.
-   */
-  void handleRobotProgramState(bool program_running);
-  void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
-
-private:
-  void reset_command_interfaces();
-  void asyncCommandThread();
-  void asyncStopMotionThread();
-  void processMotionCommand(const std::vector<double>& command);
-  void processStopCommand();
-  void processResetStopCommand();
-  bool getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
-                                            double& move_time);
-  bool getVelocityAndAcceleration(const std::vector<double>& command, double& velocity, double& acceleration,
-                                  double& move_time);
-
-  // Async thread handling
-  std::unique_ptr<std::thread> async_command_thread_;
-  std::unique_ptr<std::thread> async_stop_motion_thread_;
-  std::atomic_bool async_thread_shutdown_{ false };
-  std::mutex command_mutex_;
-  std::mutex stop_mutex_;
-
-  // Command buffer for thread-safe communication
-  std::vector<double> pending_command_;
-  std::atomic_bool new_command_available_{ false };
-  std::atomic_bool new_stop_available_{ false };
-  std::atomic_bool new_reset_stop_available_{ false };
-  
-  // Status for communication with controller
-  std::atomic<int8_t> current_execution_status_{ ExecutionState::IDLE };
-  std::atomic_bool ready_for_new_primitive_{ false };
-
-  // Command and state interfaces for the motion primitives
-  std::vector<double> hw_mo_prim_commands_;
-  std::vector<double> hw_mo_prim_states_;
-
-  std::shared_ptr<urcl::UrDriver> ur_driver_;
-  std::shared_ptr<urcl::InstructionExecutor> instruction_executor_;
-
-  // Helper class to handle state interface stuff from the URPositionHardwareInterface
-  ur_robot_driver::URStateHelper state_helper_;
-  std::atomic_bool rtde_comm_has_been_started_ = false;
-
-  urcl::RobotReceiveTimeout receive_timeout_ = urcl::RobotReceiveTimeout::millisec(20);
-
-  bool initialized_;
-  bool robot_program_running_;
-
-  bool non_blocking_read_;
-
-  // flag to put all following primitives into a motion sequence instead of sending single primitives
-  std::atomic_bool build_motion_sequence_{ false };
-  std::vector<std::shared_ptr<urcl::control::MotionPrimitive>> motion_sequence_;
-};
-
-}  // namespace ur_robot_driver
-
-#endif  // UR_ROBOT_DRIVER__MOTION_PRIMITIVES_UR_DRIVER_HPP_
diff --git a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py b/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
deleted file mode 100644
index a7204d7b1..000000000
--- a/ur_robot_driver/launch/motion_primitive_controller_ur.launch.py
+++ /dev/null
@@ -1,505 +0,0 @@
-# Copyright (c) 2021 PickNik, Inc.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-#    * Redistributions of source code must retain the above copyright
-#      notice, this list of conditions and the following disclaimer.
-#
-#    * Redistributions in binary form must reproduce the above copyright
-#      notice, this list of conditions and the following disclaimer in the
-#      documentation and/or other materials provided with the distribution.
-#
-#    * Neither the name of the {copyright_holder} nor the names of its
-#      contributors may be used to endorse or promote products derived from
-#      this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-#
-# Author: Denis Stogl
-#
-# Author modifications: Mathias Fuhrer
-
-from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    IncludeLaunchDescription,
-    OpaqueFunction,
-)
-from launch.conditions import IfCondition, UnlessCondition
-from launch.launch_description_sources import AnyLaunchDescriptionSource
-from launch.substitutions import (
-    AndSubstitution,
-    LaunchConfiguration,
-    NotSubstitution,
-    PathJoinSubstitution,
-)
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterFile
-from launch_ros.substitutions import FindPackageShare
-
-
-def launch_setup(context):
-    # Initialize Arguments
-    ur_type = LaunchConfiguration("ur_type")
-    robot_ip = LaunchConfiguration("robot_ip")
-    driver_type = LaunchConfiguration("driver_type")
-    # General arguments
-    controllers_file = LaunchConfiguration("controllers_file")
-    description_launchfile = LaunchConfiguration("description_launchfile")
-    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
-    controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
-    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
-    activate_joint_controller = LaunchConfiguration("activate_joint_controller")
-    launch_rviz = LaunchConfiguration("launch_rviz")
-    rviz_config_file = LaunchConfiguration("rviz_config_file")
-    headless_mode = LaunchConfiguration("headless_mode")
-    launch_dashboard_client = LaunchConfiguration("launch_dashboard_client")
-    use_tool_communication = LaunchConfiguration("use_tool_communication")
-    tool_device_name = LaunchConfiguration("tool_device_name")
-    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
-
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[
-            LaunchConfiguration("update_rate_config_file"),
-            ParameterFile(controllers_file, allow_substs=True),
-            # We use the tf_prefix as substitution in there, so that's why we keep it as an
-            # argument for this launchfile
-        ],
-        output="screen",
-    )
-
-    dashboard_client_node = Node(
-        package="ur_robot_driver",
-        condition=IfCondition(
-            AndSubstitution(launch_dashboard_client, NotSubstitution(use_mock_hardware))
-        ),
-        executable="dashboard_client",
-        name="dashboard_client",
-        output="screen",
-        emulate_tty=True,
-        parameters=[{"robot_ip": robot_ip}],
-    )
-
-    tool_communication_node = Node(
-        package="ur_robot_driver",
-        condition=IfCondition(use_tool_communication),
-        executable="tool_communication.py",
-        name="ur_tool_comm",
-        output="screen",
-        parameters=[
-            {
-                "robot_ip": robot_ip,
-                "tcp_port": tool_tcp_port,
-                "device_name": tool_device_name,
-            }
-        ],
-    )
-
-    # urscript_interface = Node(
-    #     package="ur_robot_driver",
-    #     executable="urscript_interface",
-    #     parameters=[{"robot_ip": robot_ip}],
-    #     output="screen",
-    #     condition=UnlessCondition(use_mock_hardware),
-    # )
-
-    controller_stopper_node = Node(
-        package="ur_robot_driver",
-        executable="controller_stopper_node",
-        name="controller_stopper",
-        output="screen",
-        emulate_tty=True,
-        condition=UnlessCondition(use_mock_hardware),
-        parameters=[
-            {"headless_mode": headless_mode},
-            {"joint_controller_active": activate_joint_controller},
-            {
-                "consistent_controllers": [
-                    "io_and_status_controller",
-                    "force_torque_sensor_broadcaster",
-                    "joint_state_broadcaster",
-                    "speed_scaling_state_broadcaster",
-                    "tcp_pose_broadcaster",
-                    "ur_configuration_controller",
-                ]
-            },
-        ],
-    )
-
-    rviz_node = Node(
-        package="rviz2",
-        condition=IfCondition(launch_rviz),
-        executable="rviz2",
-        name="rviz2",
-        output="log",
-        arguments=["-d", rviz_config_file],
-    )
-
-    # Spawn controllers
-    def controller_spawner(controllers, active=True):
-        inactive_flags = ["--inactive"] if not active else []
-        return Node(
-            package="controller_manager",
-            executable="spawner",
-            arguments=[
-                "--controller-manager",
-                "/controller_manager",
-                "--controller-manager-timeout",
-                controller_spawner_timeout,
-            ]
-            + inactive_flags
-            + controllers,
-        )
-
-    controllers_active = [
-        "joint_state_broadcaster",
-        "motion_primitive_controller",
-    ]
-    # "io_and_status_controller",
-    # "speed_scaling_state_broadcaster",
-    # "force_torque_sensor_broadcaster",
-    # "tcp_pose_broadcaster",
-    # "ur_configuration_controller",
-
-    controllers_inactive = []
-    # "scaled_joint_trajectory_controller",
-    # "joint_trajectory_controller",
-    # "forward_velocity_controller",
-    # "forward_position_controller",
-    # "force_mode_controller",
-    # "passthrough_trajectory_controller",
-    # "freedrive_mode_controller",
-
-    if activate_joint_controller.perform(context) == "true":
-        controllers_active.append(initial_joint_controller.perform(context))
-        controllers_inactive.remove(initial_joint_controller.perform(context))
-
-    if use_mock_hardware.perform(context) == "true":
-        controllers_active.remove("tcp_pose_broadcaster")
-
-    # controller_spawners = [
-    #     controller_spawner(controllers_active),
-    #     controller_spawner(controllers_inactive, active=False),
-    # ]
-    controller_spawners = []
-
-    if controllers_active:  # Check if controllers_active is not empty
-        controller_spawners.append(controller_spawner(controllers_active))
-
-    if controllers_inactive:  # Check if controllers_inactive is not empty
-        controller_spawners.append(controller_spawner(controllers_inactive, active=False))
-
-    rsp = IncludeLaunchDescription(
-        AnyLaunchDescriptionSource(description_launchfile),
-        launch_arguments={
-            "robot_ip": robot_ip,
-            "ur_type": ur_type,
-            "driver_type": driver_type,
-        }.items(),
-    )
-
-    nodes_to_start = [
-        control_node,
-        dashboard_client_node,
-        tool_communication_node,
-        controller_stopper_node,
-        rsp,
-        rviz_node,
-    ] + controller_spawners
-
-    # urscript_interface,
-
-    return nodes_to_start
-
-
-def generate_launch_description():
-    declared_arguments = []
-    # UR specific arguments
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "ur_type",
-            description="Type/series of used UR robot.",
-            choices=[
-                "ur3",
-                "ur3e",
-                "ur5",
-                "ur5e",
-                "ur10",
-                "ur10e",
-                "ur16e",
-                "ur20",
-                "ur30",
-            ],
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "robot_ip", description="IP address by which the robot can be reached."
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "driver_type",
-            default_value="motion_primitive",
-            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
-            choices=["standard", "motion_primitive"],
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_limits",
-            default_value="true",
-            description="Enables the safety limits controller if true.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_pos_margin",
-            default_value="0.15",
-            description="The margin to lower and upper limits in the safety controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "safety_k_position",
-            default_value="20",
-            description="k-position factor in the safety controller.",
-        )
-    )
-    # General arguments
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "controllers_file",
-            default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_driver"), "config", "ur_controllers.yaml"]
-            ),
-            description="YAML file with the controllers configuration.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "description_launchfile",
-            default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_robot_driver"), "launch", "ur_rsp.launch.py"]
-            ),
-            description="Launchfile (absolute path) providing the description. "
-            "The launchfile has to start a robot_state_publisher node that "
-            "publishes the description topic.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tf_prefix",
-            default_value="",
-            description="tf_prefix of the joint names, useful for "
-            "multi-robot setup. If changed, also joint names in the controllers' configuration "
-            "have to be updated.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_mock_hardware",
-            default_value="false",
-            description="Start robot with mock hardware mirroring command to its states.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "mock_sensor_commands",
-            default_value="false",
-            description="Enable mock command interfaces for sensors used for simple simulations. "
-            "Used only if 'use_mock_hardware' parameter is true.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "headless_mode",
-            default_value="true",
-            description="Enable headless mode for robot control",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "controller_spawner_timeout",
-            default_value="10",
-            description="Timeout used when spawning controllers.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "initial_joint_controller",
-            default_value="scaled_joint_trajectory_controller",
-            choices=[
-                "scaled_joint_trajectory_controller",
-                "joint_trajectory_controller",
-                "forward_velocity_controller",
-                "forward_position_controller",
-                "freedrive_mode_controller",
-                "passthrough_trajectory_controller",
-            ],
-            description="Initially loaded robot controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "activate_joint_controller",
-            default_value="false",
-            description="Activate loaded joint controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "rviz_config_file",
-            default_value=PathJoinSubstitution(
-                [FindPackageShare("ur_description"), "rviz", "view_robot.rviz"]
-            ),
-            description="RViz config file (absolute path) to use when launching rviz.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "launch_dashboard_client",
-            default_value="true",
-            description="Launch Dashboard Client?",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "use_tool_communication",
-            default_value="false",
-            description="Only available for e series!",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_parity",
-            default_value="0",
-            description="Parity configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_baud_rate",
-            default_value="115200",
-            description="Baud rate configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_stop_bits",
-            default_value="1",
-            description="Stop bits configuration for serial communication. Only effective, if "
-            "use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_rx_idle_chars",
-            default_value="1.5",
-            description="RX idle chars configuration for serial communication. Only effective, "
-            "if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_tx_idle_chars",
-            default_value="3.5",
-            description="TX idle chars configuration for serial communication. Only effective, "
-            "if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_device_name",
-            default_value="/tmp/ttyUR",
-            description="File descriptor that will be generated for the tool communication device. "
-            "The user has be be allowed to write to this location. "
-            "Only effective, if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_tcp_port",
-            default_value="54321",
-            description="Remote port that will be used for bridging the tool's serial device. "
-            "Only effective, if use_tool_communication is set to True.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "tool_voltage",
-            default_value="0",  # 0 being a conservative value that won't destroy anything
-            description="Tool voltage that will be setup.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "reverse_ip",
-            default_value="0.0.0.0",
-            description="IP that will be used for the robot controller to communicate back to the driver.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "script_command_port",
-            default_value="50004",
-            description="Port that will be opened to forward URScript commands to the robot.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "reverse_port",
-            default_value="50001",
-            description="Port that will be opened to send cyclic instructions from the driver to the robot controller.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "script_sender_port",
-            default_value="50002",
-            description="The driver will offer an interface to query the external_control URScript on this port.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "trajectory_port",
-            default_value="50003",
-            description="Port that will be opened for trajectory control.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            name="update_rate_config_file",
-            default_value=[
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("ur_robot_driver"),
-                        "config",
-                    ]
-                ),
-                "/",
-                LaunchConfiguration("ur_type"),
-                "_update_rate.yaml",
-            ],
-        )
-    )
-    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index b29f44f29..ea1dfd803 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -28,6 +28,8 @@
 
 #
 # Author: Denis Stogl
+#
+# Author modifications: Mathias Fuhrer
 
 from launch import LaunchDescription
 from launch.actions import (
@@ -52,7 +54,6 @@ def launch_setup(context):
     # Initialize Arguments
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
-    driver_type = LaunchConfiguration("driver_type")
     # General arguments
     controllers_file = LaunchConfiguration("controllers_file")
     description_launchfile = LaunchConfiguration("description_launchfile")
@@ -97,8 +98,10 @@ def launch_setup(context):
         executable="robot_state_helper",
         name="ur_robot_state_helper",
         output="screen",
+        condition=UnlessCondition(use_mock_hardware),
         parameters=[
             {"headless_mode": headless_mode},
+            {"robot_ip": robot_ip},
         ],
     )
 
@@ -176,6 +179,7 @@ def controller_spawner(controllers, active=True):
     controllers_active = [
         "joint_state_broadcaster",
         "io_and_status_controller",
+        "motion_primitive_controller",
         "speed_scaling_state_broadcaster",
         "force_torque_sensor_broadcaster",
         "tcp_pose_broadcaster",
@@ -189,6 +193,7 @@ def controller_spawner(controllers, active=True):
         "force_mode_controller",
         "passthrough_trajectory_controller",
         "freedrive_mode_controller",
+        "tool_contact_controller",
     ]
     if activate_joint_controller.perform(context) == "true":
         controllers_active.append(initial_joint_controller.perform(context))
@@ -207,7 +212,6 @@ def controller_spawner(controllers, active=True):
         launch_arguments={
             "robot_ip": robot_ip,
             "ur_type": ur_type,
-            "driver_type": driver_type,
         }.items(),
     )
 
@@ -237,9 +241,12 @@ def generate_launch_description():
                 "ur3e",
                 "ur5",
                 "ur5e",
+                "ur7e",
                 "ur10",
                 "ur10e",
+                "ur12e",
                 "ur16e",
+                "ur15",
                 "ur20",
                 "ur30",
             ],
@@ -250,14 +257,6 @@ def generate_launch_description():
             "robot_ip", description="IP address by which the robot can be reached."
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "driver_type",
-            default_value="standard",
-            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
-            choices=["standard", "motion_primitive"],
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
@@ -501,4 +500,4 @@ def generate_launch_description():
             ],
         )
     )
-    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
\ No newline at end of file
diff --git a/ur_robot_driver/launch/ur_rsp.launch.py b/ur_robot_driver/launch/ur_rsp.launch.py
index c6334ebf7..55b07a383 100644
--- a/ur_robot_driver/launch/ur_rsp.launch.py
+++ b/ur_robot_driver/launch/ur_rsp.launch.py
@@ -46,7 +46,6 @@
 def generate_launch_description():
     ur_type = LaunchConfiguration("ur_type")
     robot_ip = LaunchConfiguration("robot_ip")
-    driver_type = LaunchConfiguration("driver_type")
     safety_limits = LaunchConfiguration("safety_limits")
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
@@ -98,9 +97,6 @@ def generate_launch_description():
             "robot_ip:=",
             robot_ip,
             " ",
-            "driver_type:=",
-            driver_type,
-            " ",
             "joint_limit_params:=",
             joint_limit_params_file,
             " ",
@@ -205,9 +201,12 @@ def generate_launch_description():
                 "ur3e",
                 "ur5",
                 "ur5e",
+                "ur7e",
                 "ur10",
                 "ur10e",
+                "ur12e",
                 "ur16e",
+                "ur15",
                 "ur20",
                 "ur30",
             ],
@@ -218,14 +217,6 @@ def generate_launch_description():
             "robot_ip", description="IP address by which the robot can be reached."
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "driver_type",
-            default_value="standard",
-            description="Type of driver to use: standard (standard ur_driver) or motion_primitive.",
-            choices=["standard", "motion_primitive"],
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",
@@ -484,4 +475,4 @@ def generate_launch_description():
                 parameters=[robot_description],
             ),
         ]
-    )
+    )
\ No newline at end of file
diff --git a/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml b/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
deleted file mode 100644
index de9070f33..000000000
--- a/ur_robot_driver/motion_primitive_hardware_interface_plugin.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="ur_robot_motion_primitives_driver_plugin">
-  <class name="ur_robot_driver/MotionPrimitivesUrDriver"
-         type="ur_robot_driver::MotionPrimitivesUrDriver"
-         base_class_type="hardware_interface::SystemInterface">
-    <description>
-      ros2_control hardware interface for motion primitives.
-    </description>
-  </class>
-</library>
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 53833eafa..23789b2ea 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -25,6 +25,8 @@
   <author>Felix Exner</author>
   <author>Lea Steffen</author>
   <author>Tristan Schnell</author>
+  <author email="mathias.fuhrer@b-robotized.de">Mathias Fuhrer</author>
+
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 7d45b61e8..2f5530796 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -34,6 +34,9 @@
  * \author  Marvin Große Besselmann grosse@fzi.de
  * \date    2020-11-9
  *
+ * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
+ * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * 
  */
 //----------------------------------------------------------------------
 #include <algorithm>
@@ -97,6 +100,19 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   trajectory_joint_velocities_.clear();
   trajectory_joint_accelerations_.clear();
 
+  // Motion primitives stuff
+  async_moprim_thread_shutdown_ = false;
+  new_moprim_cmd_available_ = false;
+  new_moprim_stop_available_ = false;
+  new_moprim_reset_available_ = false;
+  current_moprim_execution_status_ = ExecutionState::IDLE;
+  ready_for_new_moprim_ = false;
+  motion_primitives_forward_controller_running_ = true; //TODO(mathias31415) set this correctly --> true for testing
+  // 2 States: execution_status, ready_for_new_primitive
+  hw_moprim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
+  // 25 Commands: // motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration + move_time
+  hw_moprim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());
+
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
     if (joint.command_interfaces.size() != 2) {
       RCLCPP_FATAL(rclcpp::get_logger("URPositionHardwareInterface"),
@@ -265,6 +281,13 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
   state_interfaces.emplace_back(hardware_interface::StateInterface(
       tf_prefix + "get_robot_software_version", "get_version_build", &get_robot_software_version_build_));
 
+  // Motion primitives stuff
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_moprim_states_[0]));
+  state_interfaces.emplace_back(
+      hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_moprim_states_[1]));
+
+
   return state_interfaces;
 }
 
@@ -399,6 +422,63 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
                                                                          &passthrough_trajectory_accelerations_[i]));
   }
 
+  // Motion primitives stuff
+  // Command for motion type (motion_type)
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_moprim_commands_[0]));
+  // Joint position commands (q1, q2, ..., q6)
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q1", &hw_moprim_commands_[1]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q2", &hw_moprim_commands_[2]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q3", &hw_moprim_commands_[3]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q4", &hw_moprim_commands_[4]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q5", &hw_moprim_commands_[5]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "q6", &hw_moprim_commands_[6]));
+  // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_moprim_commands_[7]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_moprim_commands_[8]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_moprim_commands_[9]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_moprim_commands_[10]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_moprim_commands_[11]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_moprim_commands_[12]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_moprim_commands_[13]));
+  // Via Position commands for circula motion
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_moprim_commands_[14]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_moprim_commands_[15]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_moprim_commands_[16]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_moprim_commands_[17]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_moprim_commands_[18]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_moprim_commands_[19]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_moprim_commands_[20]));
+  // Other command parameters (blend_radius, velocity, acceleration, move_time)
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_moprim_commands_[21]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_moprim_commands_[22]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_moprim_commands_[23]));
+  command_interfaces.emplace_back(
+      hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_moprim_commands_[24]));
+
   return command_interfaces;
 }
 
@@ -520,13 +600,33 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing driver...");
   registerUrclLogHandler(tf_prefix);
+  // try {
+  //   rtde_comm_has_been_started_ = false;
+  //   ur_driver_ = std::make_unique<urcl::UrDriver>(
+  //       robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
+  //       std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
+  //       std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
+  //       servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
   try {
     rtde_comm_has_been_started_ = false;
-    ur_driver_ = std::make_unique<urcl::UrDriver>(
-        robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
-        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
-        std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
-        servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
+    urcl::UrDriverConfiguration driver_config;
+    driver_config.robot_ip = robot_ip;
+    driver_config.script_file = script_filename;
+    driver_config.output_recipe_file = output_recipe_filename;
+    driver_config.input_recipe_file = input_recipe_filename;
+    driver_config.headless_mode = headless_mode;
+    driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
+    driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
+    driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
+    driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
+    driver_config.reverse_ip = reverse_ip;
+    driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
+    driver_config.servoj_lookahead_time = servoj_lookahead_time;
+    driver_config.non_blocking_read = non_blocking_read_;
+    driver_config.tool_comm_setup = std::move(tool_comm_setup);
+    driver_config.handle_program_state =
+        std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1);
+    ur_driver_ = std::make_shared<urcl::UrDriver>(driver_config);
   } catch (urcl::ToolCommNotAvailable& e) {
     RCLCPP_FATAL_STREAM(rclcpp::get_logger("URPositionHardwareInterface"), "See parameter use_tool_communication");
 
@@ -562,8 +662,17 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   get_robot_software_version_build_ = version_info.build;
   get_robot_software_version_bugfix_ = version_info.bugfix;
 
+  // TODO(mathias31415) Check if this should only be done if moprim controller is used
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing InstructionExecutor");
+  instruction_executor_ = std::make_shared<urcl::InstructionExecutor>(ur_driver_);
+
   async_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncThread, this);
 
+  // Start async thread for sending motion primitives
+  // TODO(mathias31415) Check if this should only be done if moprim controller is used
+  async_moprim_cmd_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimCmdThread, this);
+  async_moprim_stop_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimStopThread, this);
+
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "System successfully started!");
 
   ur_driver_->registerTrajectoryDoneCallback(
@@ -577,6 +686,9 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Activating HW interface");
 
+  // TODO(mathias31415) Check if this should only be done if moprim controller is used/ activated
+  ready_for_new_moprim_ = true;  // set to true to allow controller to send new motion primitives
+
   for (size_t i = 0; i < 6; i++) {
     force_mode_task_frame_[i] = NO_NEW_CMD_;
     force_mode_selection_vector_[i] = static_cast<uint32_t>(NO_NEW_CMD_);
@@ -610,6 +722,16 @@ hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
     async_thread_->join();
     async_thread_.reset();
   }
+  if (async_moprim_cmd_thread_) {
+    async_moprim_thread_shutdown_ = true;
+    async_moprim_cmd_thread_->join();
+    async_moprim_cmd_thread_.reset();
+  }
+  if (async_moprim_stop_thread_) {
+    async_moprim_thread_shutdown_ = true;
+    async_moprim_stop_thread_->join();
+    async_moprim_stop_thread_.reset();
+  }
 
   ur_driver_.reset();
 
@@ -746,6 +868,10 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
 
     updateNonDoubleValues();
 
+    // Motion primitives stuff
+    hw_moprim_states_[0] = current_moprim_execution_status_;
+    hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
+
     return hardware_interface::return_type::OK;
   }
   if (!non_blocking_read_)
@@ -775,6 +901,8 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
     } else if (passthrough_trajectory_controller_running_) {
       ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);
       check_passthrough_trajectory_controller();
+    } else if (motion_primitives_forward_controller_running_) {
+      handleMoprimCommands();
     } else {
       ur_driver_->writeKeepalive();
     }
@@ -1386,6 +1514,388 @@ bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<doubl
   return (accelerations.size() > 0);
 }
 
+
+void URPositionHardwareInterface::handleMoprimCommands()
+{
+  // Check if we have a new command
+  if (!std::isnan(hw_moprim_commands_[0])) {
+    ready_for_new_moprim_ = false;  // set to false to indicate that the driver is busy handling a command
+    if (hw_moprim_commands_[0] == MotionType::STOP_MOTION) {
+      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+      if (!new_moprim_stop_available_) {
+        new_moprim_stop_available_ = true;
+        resetMoprimCmdInterfaces();
+      }
+    }else if (hw_moprim_commands_[0] == MotionType::RESET_STOP) {
+        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+        if (!new_moprim_reset_available_) {
+          new_moprim_reset_available_ = true;
+          resetMoprimCmdInterfaces();
+        }
+    } else {
+      std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
+      if (!new_moprim_cmd_available_) {
+        // Copy command to thread-safe buffer
+        pending_moprim_cmd_ = hw_moprim_commands_;
+        new_moprim_cmd_available_ = true;
+        resetMoprimCmdInterfaces();
+      }
+    }
+  }
+
+  // Send keepalive if current_moprim_execution_status_ is not EXECUTING
+  if (ur_driver_ && current_moprim_execution_status_ != ExecutionState::EXECUTING) {
+    ur_driver_->writeKeepalive();
+  }
+}
+
+void URPositionHardwareInterface::resetMoprimCmdInterfaces()
+{
+  std::fill(hw_moprim_commands_.begin(), hw_moprim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
+}
+
+void URPositionHardwareInterface::asyncMoprimStopThread()
+{
+  while (!async_moprim_thread_shutdown_) {
+    if (new_moprim_stop_available_) {
+      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+      new_moprim_stop_available_ = false;
+      processMoprimStopCmd();
+    } else if (new_moprim_reset_available_) {
+      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+      new_moprim_reset_available_ = false;
+      processMoprimResetCmd();
+    }
+    // Small sleep to prevent busy waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimStopThread] Exiting");
+}
+
+void URPositionHardwareInterface::processMoprimStopCmd()
+{
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received Motion Primitives STOP command");
+  // delete motion sequence
+  build_moprim_sequence_ = false;
+  moprim_sequence_.clear();
+
+  if (instruction_executor_->isTrajectoryRunning()) {
+    RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping motion ...");
+    if (!instruction_executor_->cancelMotion()) {
+      RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to stop motion");
+      current_moprim_execution_status_ = ExecutionState::ERROR;
+    } else {
+      RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Motion stopped successfully");
+      current_moprim_execution_status_ = ExecutionState::STOPPED;
+      ready_for_new_moprim_ = false;
+    }
+  } else {
+    RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "No motion to stop");
+    current_moprim_execution_status_ = ExecutionState::STOPPED;
+    ready_for_new_moprim_ = false; 
+  }
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+              " [processMoprimStopCmd] After executing stop: current_moprim_execution_status_ = %d",
+              current_moprim_execution_status_.load());
+}
+
+void URPositionHardwareInterface::processMoprimResetCmd()
+{
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received RESET_STOP command");
+  current_moprim_execution_status_ = ExecutionState::IDLE;
+  ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+}
+
+void URPositionHardwareInterface::asyncMoprimCmdThread()
+{
+  while (!async_moprim_thread_shutdown_) {
+    // Check for new commands
+    if (new_moprim_cmd_available_) {
+      // RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimCmdThread] New command available");
+      std::vector<double> current_command;
+      {
+        std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
+        current_command = pending_moprim_cmd_;
+        new_moprim_cmd_available_ = false;
+      }
+
+      // Process the command
+      processMoprimMotionCmd(current_command);
+    }
+
+    // Small sleep to prevent busy waiting
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
+  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimCmdThread] Exiting");
+}
+
+void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<double>& command)
+{
+  if (command.empty() || std::isnan(command[0])) {
+    return;
+  }
+  double velocity, acceleration, move_time;
+  double motion_type = command[0];
+  double blend_radius = command[21];
+
+  try {
+    switch (static_cast<uint8_t>(motion_type)) {
+      case MotionType::MOTION_SEQUENCE_START:
+      {
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all following "
+                                                                    "commands to the motion sequence.");
+        build_moprim_sequence_ = true;  // set flag to put all following commands into the motion sequence
+        moprim_sequence_.clear();
+        ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+        return;
+      }
+
+      case MotionType::MOTION_SEQUENCE_END:
+      {
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                    "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives",
+                    moprim_sequence_.size());
+        build_moprim_sequence_ = false;
+        current_moprim_execution_status_ = ExecutionState::EXECUTING;
+        bool success = instruction_executor_->executeMotion(moprim_sequence_);
+        current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                    " [processMoprimMotionCmd] After executing motion sequence: current_moprim_execution_status_ = %d",
+                    current_moprim_execution_status_.load());
+        moprim_sequence_.clear();
+        if (success) {
+          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+        }
+        return;
+      }
+
+      case MotionType::LINEAR_JOINT:
+      {  // moveJ
+        // Check if joint positions are valid
+        for (int i = 1; i <= 6; ++i) {
+          if (std::isnan(command[i])) {
+            RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: joint positions "
+                                                                         "contain NaN values");
+            current_moprim_execution_status_ = ExecutionState::ERROR;
+            return;
+          }
+        }
+        urcl::vector6d_t joint_positions = { command[1], command[2], command[3], command[4], command[5], command[6] };
+
+        // Get move_time OR (velocity AND acceleration)
+        if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
+                                                                       "values");
+          current_moprim_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        // Check if the command is part of a motion sequence or a single command
+        if (build_moprim_sequence_) {  // Add command to motion sequence
+          moprim_sequence_.emplace_back(std::make_shared<urcl::control::MoveJPrimitive>(
+              joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)),
+              acceleration, velocity));
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], "
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
+                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
+          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          return;
+        } else {  // execute single primitive directly
+          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], "
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
+                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
+          bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
+          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      " [processMoprimMotionCmd] After executing moveJ: current_moprim_execution_status_ = %d",
+                      current_moprim_execution_status_.load());
+          if (success) {
+            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          }
+          return;
+        }
+        break;
+      }
+
+      case MotionType::LINEAR_CARTESIAN:
+      {  // moveL
+        // Check if pose values (position and quaternion) are valid
+        for (int i = 7; i <= 13; ++i) {
+          if (std::isnan(command[i])) {
+            RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
+                                                                         "values");
+            current_moprim_execution_status_ = ExecutionState::ERROR;
+            return;
+          }
+        }
+        double rx, ry, rz;
+        quaternionToEuler(command[10], command[11], command[12], command[13], rx, ry, rz);
+        urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz };
+
+        // Get move_time OR (velocity AND acceleration)
+        if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
+                                                                       "values");
+          current_moprim_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        // Check if the command is part of a motion sequence or a single command
+        if (build_moprim_sequence_) {  // Add command to motion sequence
+          moprim_sequence_.emplace_back(std::make_shared<urcl::control::MoveLPrimitive>(
+              pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration,
+              velocity));
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], "
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
+                      blend_radius);
+          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          return;
+        } else {  // execute single primitive directly
+          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], "
+                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
+                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
+                      blend_radius);
+          bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
+          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      " [processMoprimMotionCmd] After executing moveL: current_moprim_execution_status_ = %d",
+                      current_moprim_execution_status_.load());
+          if (success) {
+            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          }
+          return;
+        }
+        break;
+      }
+
+      case MotionType::CIRCULAR_CARTESIAN:
+      {  // CIRC
+        // Check if pose values (position and quaternion) are valid
+        for (int i = 7; i <= 20; ++i) {
+          if (std::isnan(command[i])) {
+            RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
+                                                                         "values");
+            current_moprim_execution_status_ = ExecutionState::ERROR;
+            return;
+          }
+        }
+
+        // 0: Unconstrained mode, 1: Fixed mode
+        // (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf)
+        int32_t mode = 0;
+
+        // Get velocity and acceleration)
+        if (!getMoprimVelAndAcc(command, velocity, acceleration, move_time)) {
+          RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid velocity or acceleration values");
+          current_moprim_execution_status_ = ExecutionState::ERROR;
+          return;
+        }
+
+        double via_rx, via_ry, via_rz;
+        quaternionToEuler(command[17], command[18], command[19], command[20], via_rx, via_ry, via_rz);
+        urcl::Pose via_pose = { command[14], command[15], command[16], via_rx, via_ry, via_rz };
+
+        double goal_rx, goal_ry, goal_rz;
+        quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
+        urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
+
+        // Check if the command is part of a motion sequence or a single command
+        if (build_moprim_sequence_) {  // Add command to motion sequence
+          moprim_sequence_.emplace_back(std::make_shared<urcl::control::MoveCPrimitive>(
+              via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f], "
+                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
+                      "acceleration: %f, blend_radius: %f, mode: %d",
+                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
+                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
+                      blend_radius, mode);
+          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          return;
+        } else {  // execute single primitive directly
+          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], "
+                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
+                      "acceleration: %f, blend_radius: %f, mode: %d",
+                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
+                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
+                      blend_radius, mode);
+          bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
+          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+                      " [processMoprimMotionCmd] After executing moveC: current_moprim_execution_status_ = %d",
+                      current_moprim_execution_status_.load());
+          if (success) {
+            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
+          }
+          return;
+        }
+        break;
+      }
+
+      default:
+      {
+        RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"),
+                     "Invalid motion command: motion type %f is not supported", motion_type);
+        current_moprim_execution_status_ = ExecutionState::ERROR;
+        return;
+      }
+    }
+  } catch (const std::exception& e) {
+    RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to execute motion command: %s", e.what());
+    current_moprim_execution_status_ = ExecutionState::ERROR;
+  }
+}
+
+bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command,
+                                                                    double& velocity, double& acceleration,
+                                                                    double& move_time)
+{
+  // Check if move_time is valid
+  if (!std::isnan(command[24]) && command[24] > 0.0) {
+    move_time = command[24];
+    // If move_time is valid, velocity and acceleration are ignored in moveJ and moveL, but must be > 0.0
+    velocity = 1.0;
+    acceleration = 1.0;
+    return true;
+  } else if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
+    // If no valid move_time, check if velocity and acceleration are valid
+    velocity = command[22];
+    acceleration = command[23];
+    move_time = 0.0;
+    return true;
+  } else {
+    RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "move_time, velocity and acceleration are all "
+                                                                 "invalid");
+    return false;
+  }
+}
+
+bool URPositionHardwareInterface::getMoprimVelAndAcc(const std::vector<double>& command, double& velocity,
+                                                          double& acceleration, double& move_time)
+{
+  // Check if velocity and acceleration are valid
+  if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
+    velocity = command[22];
+    acceleration = command[23];
+    move_time = 0.0;
+    return true;
+  } else {
+    RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "velocity or acceleration is invalid");
+    return false;
+  }
+}
+
 }  // namespace ur_robot_driver
 
 #include "pluginlib/class_list_macros.hpp"
diff --git a/ur_robot_driver/src/motion_primitives_ur_driver.cpp b/ur_robot_driver/src/motion_primitives_ur_driver.cpp
deleted file mode 100644
index 717013174..000000000
--- a/ur_robot_driver/src/motion_primitives_ur_driver.cpp
+++ /dev/null
@@ -1,762 +0,0 @@
-// Copyright (c) 2025, b»robotized
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Authors: Mathias Fuhrer
-
-#include <limits>
-#include <vector>
-#include <memory>
-#include <thread>
-#include <atomic>
-
-#include "ur_robot_driver/motion_primitives_ur_driver.hpp"
-#include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-#include "motion_primitives_forward_controller/motion_type.hpp"
-
-namespace ur_robot_driver
-{
-
-MotionPrimitivesUrDriver::~MotionPrimitivesUrDriver()
-{
-  async_thread_shutdown_ = true;
-  if (async_command_thread_ && async_command_thread_->joinable()) {
-    async_command_thread_->join();
-    async_command_thread_.reset();
-  }
-  if (async_stop_motion_thread_ && async_stop_motion_thread_->joinable()) {
-    async_stop_motion_thread_->join();
-    async_stop_motion_thread_.reset();
-  }
-
-  ur_driver_.reset();
-}
-
-hardware_interface::CallbackReturn MotionPrimitivesUrDriver::on_init(const hardware_interface::HardwareInfo& info)
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing Hardware Interface");
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
-    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to initialize SystemInterface");
-    return CallbackReturn::ERROR;
-  }
-
-  info_ = info;
-
-  // Initialize the state helper
-  state_helper_.initialize();
-
-  // initialize
-  initialized_ = false;
-  async_thread_shutdown_ = false;
-  new_command_available_ = false;
-  rtde_comm_has_been_started_ = false;
-
-  // Resize hardware state and command vectors, initializing them with NaN values.
-  // States: execution_status, ready_for_new_primitive
-  hw_mo_prim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
-  // Commands: // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time
-  hw_mo_prim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());
-
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::CallbackReturn
-MotionPrimitivesUrDriver::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Configuring Hardware Interface");
-
-  // The robot's IP address.
-  const std::string robot_ip = info_.hardware_parameters["robot_ip"];
-
-  // Path to the urscript code that will be sent to the robot
-  const std::string script_filename = info_.hardware_parameters["script_filename"];
-
-  // Path to the file containing the recipe used for requesting RTDE outputs.
-  const std::string output_recipe_filename = info_.hardware_parameters["output_recipe_filename"];
-
-  // Path to the file containing the recipe used for requesting RTDE inputs.
-  const std::string input_recipe_filename = info_.hardware_parameters["input_recipe_filename"];
-
-  // Start robot in headless mode. This does not require the 'External Control' URCap to be running
-  // on the robot, but this will send the URScript to the robot directly. On e-Series robots this
-  // requires the robot to run in 'remote-control' mode.
-  const bool headless_mode =
-      (info_.hardware_parameters["headless_mode"] == "true") || (info_.hardware_parameters["headless_mode"] == "True");
-
-  // Port that will be opened to communicate between the driver and the robot controller.
-  const int reverse_port = stoi(info_.hardware_parameters["reverse_port"]);
-
-  // The driver will offer an interface to receive the program's URScript on this port.
-  const int script_sender_port = stoi(info_.hardware_parameters["script_sender_port"]);
-
-  // The ip address of the host the driver runs on
-  std::string reverse_ip = info_.hardware_parameters["reverse_ip"];
-  if (reverse_ip == "0.0.0.0") {
-    reverse_ip = "";
-  }
-
-  // Port (on the host pc) of the trajectory interface
-  const int trajectory_port = stoi(info_.hardware_parameters["trajectory_port"]);
-
-  // Port (on the host PC) that will be used to forward script commands from the driver to the robot
-  const int script_command_port = stoi(info_.hardware_parameters["script_command_port"]);
-
-  // Enables non_blocking_read mode. Should only be used with combined_robot_hw. Disables error generated when read
-  // returns without any data, sets the read timeout to zero, and synchronises read/write operations. Enabling this when
-  // not used with combined_robot_hw can suppress important errors and affect real-time performance.
-  non_blocking_read_ = (info_.hardware_parameters["non_blocking_read"] == "true") ||
-                       (info_.hardware_parameters["non_blocking_read"] == "True");
-
-  // Specify gain for servoing to position in joint space.
-  // A higher gain can sharpen the trajectory.
-  const int servoj_gain = stoi(info_.hardware_parameters["servoj_gain"]);
-  // Specify lookahead time for servoing to position in joint space.
-  // A longer lookahead time can smooth the trajectory.
-  const double servoj_lookahead_time = stod(info_.hardware_parameters["servoj_lookahead_time"]);
-
-  // Hash of the calibration reported by the robot. This is used for validating the robot
-  // description is using the correct calibration. If the robot's calibration doesn't match this
-  // hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the
-  // endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your
-  // own hash matching your actual robot.
-  const std::string calibration_checksum = info_.hardware_parameters["kinematics/hash"];
-
-  // Obtain the tf_prefix which is needed for the logging handler so that log messages from different arms are
-  // distiguishable in the log
-  const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing driver...");
-  try {
-    rtde_comm_has_been_started_ = false;
-    urcl::UrDriverConfiguration driver_config;
-    driver_config.robot_ip = robot_ip;
-    driver_config.script_file = script_filename;
-    driver_config.output_recipe_file = output_recipe_filename;
-    driver_config.input_recipe_file = input_recipe_filename;
-    driver_config.headless_mode = headless_mode;
-    driver_config.reverse_port = static_cast<uint32_t>(reverse_port);
-    driver_config.script_sender_port = static_cast<uint32_t>(script_sender_port);
-    driver_config.trajectory_port = static_cast<uint32_t>(trajectory_port);
-    driver_config.script_command_port = static_cast<uint32_t>(script_command_port);
-    driver_config.reverse_ip = reverse_ip;
-    driver_config.servoj_gain = static_cast<uint32_t>(servoj_gain);
-    driver_config.servoj_lookahead_time = servoj_lookahead_time;
-    driver_config.non_blocking_read = non_blocking_read_;
-    driver_config.tool_comm_setup = nullptr;
-    driver_config.handle_program_state =
-        std::bind(&MotionPrimitivesUrDriver::handleRobotProgramState, this, std::placeholders::_1);
-    ur_driver_ = std::make_shared<urcl::UrDriver>(driver_config);
-  } catch (urcl::ToolCommNotAvailable& e) {
-    RCLCPP_FATAL_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), "See parameter use_tool_communication");
-
-    return hardware_interface::CallbackReturn::ERROR;
-  } catch (urcl::UrException& e) {
-    RCLCPP_FATAL_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), e.what());
-    return hardware_interface::CallbackReturn::ERROR;
-  }
-  // Timeout before the reverse interface will be dropped by the robot
-  receive_timeout_ = urcl::RobotReceiveTimeout::sec(std::stof(info_.hardware_parameters["robot_receive_timeout"]));
-
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Calibration checksum: '%s'.",
-              calibration_checksum.c_str());
-  // check calibration
-  // https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/c3378599d5fa73a261328b326392e847f312ab6b/ur_robot_driver/src/hardware_interface.cpp#L296-L309
-  if (ur_driver_->checkCalibration(calibration_checksum)) {
-    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Calibration checked successfully.");
-  } else {
-    RCLCPP_ERROR_STREAM(rclcpp::get_logger("MotionPrimitivesUrDriver"), "The calibration parameters of the connected "
-                                                                        "robot don't match the ones from the given "
-                                                                        "kinematics config file. Please be aware that "
-                                                                        "this can lead to critical inaccuracies of tcp "
-                                                                        "positions. Use the ur_calibration tool to "
-                                                                        "extract the correct calibration from the "
-                                                                        "robot and "
-                                                                        "pass that into the description. See "
-                                                                        "[https://github.com/UniversalRobots/"
-                                                                        "Universal_Robots_ROS2_Driver/blob/main/"
-                                                                        "ur_calibration/"
-                                                                        "README.md] for details.");
-  }
-
-  // set rtde frequency to 125 Hz
-  // ur_driver_->resetRTDEClient(output_recipe_filename, input_recipe_filename, 125.0, false);
-
-  // Export version information to state interfaces
-  urcl::VersionInformation version_info = ur_driver_->getVersion();
-  state_helper_.setRobotSoftwareVersion(version_info);
-
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Initializing InstructionExecutor");
-  instruction_executor_ = std::make_shared<urcl::InstructionExecutor>(ur_driver_);
-
-  // Start async thread for sending commands
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Starting async thread");
-  async_command_thread_ = std::make_unique<std::thread>(&MotionPrimitivesUrDriver::asyncCommandThread, this);
-  async_stop_motion_thread_ = std::make_unique<std::thread>(&MotionPrimitivesUrDriver::asyncStopMotionThread, this);
-
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "System successfully started!");
-  return CallbackReturn::SUCCESS;
-}
-
-std::vector<hardware_interface::StateInterface> MotionPrimitivesUrDriver::export_state_interfaces()
-{
-  std::vector<hardware_interface::StateInterface> state_interfaces;
-
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Exporting State Interfaces");
-
-  // extract joint names
-  std::vector<std::string> joint_names;
-  for (size_t i = 0; i < info_.joints.size(); ++i) {
-    joint_names.push_back(info_.joints[i].name);
-  }
-
-  // extract sensor names
-  std::vector<std::string> sensor_names;
-  for (size_t i = 0; i < info_.sensors.size(); ++i) {
-    sensor_names.push_back(info_.sensors[i].name);
-  }
-  // state interfaces from the URPositionHardwareInterface
-  state_interfaces =
-      state_helper_.generate_state_interfaces(joint_names, info_.hardware_parameters.at("tf_prefix"), sensor_names);
-
-  // State for execution_status and ready_for_new_primitive
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_mo_prim_states_[0]));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_mo_prim_states_[1]));
-
-  return state_interfaces;
-}
-
-std::vector<hardware_interface::CommandInterface> MotionPrimitivesUrDriver::export_command_interfaces()
-{
-  std::vector<hardware_interface::CommandInterface> command_interfaces;
-
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Exporting Command Interfaces");
-
-  // Command for motion type (motion_type)
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_mo_prim_commands_[0]));
-  // Joint position commands (q1, q2, ..., q6)
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q1", &hw_mo_prim_commands_[1]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q2", &hw_mo_prim_commands_[2]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q3", &hw_mo_prim_commands_[3]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q4", &hw_mo_prim_commands_[4]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q5", &hw_mo_prim_commands_[5]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q6", &hw_mo_prim_commands_[6]));
-  // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_mo_prim_commands_[7]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_mo_prim_commands_[8]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_mo_prim_commands_[9]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_mo_prim_commands_[10]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_mo_prim_commands_[11]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_mo_prim_commands_[12]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_mo_prim_commands_[13]));
-  // Via Position commands for circula motion
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_mo_prim_commands_[14]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_mo_prim_commands_[15]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_mo_prim_commands_[16]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_mo_prim_commands_[17]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_mo_prim_commands_[18]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_mo_prim_commands_[19]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_mo_prim_commands_[20]));
-  // Other command parameters (blend_radius, velocity, acceleration, move_time)
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_mo_prim_commands_[21]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_mo_prim_commands_[22]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_mo_prim_commands_[23]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_mo_prim_commands_[24]));
-
-  return command_interfaces;
-}
-
-hardware_interface::CallbackReturn
-MotionPrimitivesUrDriver::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Activating Hardware Interface");
-  ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::CallbackReturn
-MotionPrimitivesUrDriver::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Deactivating Hardware Interface");
-  ur_driver_.reset();
-  return CallbackReturn::SUCCESS;
-}
-
-hardware_interface::return_type MotionPrimitivesUrDriver::read(const rclcpp::Time& /*time*/,
-                                                               const rclcpp::Duration& /*period*/)
-{
-  if (!rtde_comm_has_been_started_) {
-    ur_driver_->startRTDECommunication();
-    rtde_comm_has_been_started_ = true;
-  }
-
-  std::unique_ptr<urcl::rtde_interface::DataPackage> data_pkg = ur_driver_->getDataPackage();
-
-  if (data_pkg) {
-    state_helper_.processStateData(data_pkg, initialized_, robot_program_running_);
-  }
-
-  // Update the state interfaces
-  hw_mo_prim_states_[0] = current_execution_status_;  // 0=idle, 1=executing, 2=success, 3=error
-  hw_mo_prim_states_[1] = static_cast<double>(ready_for_new_primitive_);
-
-  return hardware_interface::return_type::OK;
-}
-
-hardware_interface::return_type MotionPrimitivesUrDriver::write(const rclcpp::Time& /*time*/,
-                                                                const rclcpp::Duration& /*period*/)
-{
-  // Check if we have a new command
-  if (!std::isnan(hw_mo_prim_commands_[0])) {
-    ready_for_new_primitive_ = false;  // set to false to indicate that the driver is busy handling a command
-    if (hw_mo_prim_commands_[0] == MotionType::STOP_MOTION) {
-      std::lock_guard<std::mutex> guard(stop_mutex_);
-      if (!new_stop_available_) {
-        new_stop_available_ = true;
-        // Reset command interfaces
-        std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
-      }
-    }else if (hw_mo_prim_commands_[0] == MotionType::RESET_STOP) {
-        std::lock_guard<std::mutex> guard(stop_mutex_);
-        if (!new_reset_stop_available_) {
-          new_reset_stop_available_ = true;
-          // Reset command interfaces
-          std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
-        }
-    } else {
-      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-      //       "Command of type: %f received", hw_mo_prim_commands_[0]);
-      std::lock_guard<std::mutex> guard(command_mutex_);
-      if (!new_command_available_) {
-        // Copy command to thread-safe buffer
-        pending_command_ = hw_mo_prim_commands_;
-        new_command_available_ = true;
-        // Reset command interfaces
-        std::fill(hw_mo_prim_commands_.begin(), hw_mo_prim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
-      }
-    }
-  }
-
-  // Send keepalive if current_execution_status_ is not EXECUTING
-  if (ur_driver_ && current_execution_status_ != ExecutionState::EXECUTING) {
-    ur_driver_->writeKeepalive();
-  }
-
-  return hardware_interface::return_type::OK;
-}
-
-void MotionPrimitivesUrDriver::asyncStopMotionThread()
-{
-  while (!async_thread_shutdown_) {
-    if (new_stop_available_) {
-      std::lock_guard<std::mutex> guard(stop_mutex_);
-      new_stop_available_ = false;
-      processStopCommand();
-    } else if (new_reset_stop_available_) {
-      std::lock_guard<std::mutex> guard(stop_mutex_);
-      new_reset_stop_available_ = false;
-      processResetStopCommand();
-    }
-    // Small sleep to prevent busy waiting
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-  }
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncStopMotionThread] Exiting");
-}
-
-void MotionPrimitivesUrDriver::processStopCommand()
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received STOP command");
-  // delete motion sequence
-  build_motion_sequence_ = false;
-  motion_sequence_.clear();
-
-  if (instruction_executor_->isTrajectoryRunning()) {
-    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Stopping motion ...");
-    if (!instruction_executor_->cancelMotion()) {
-      RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to stop motion");
-      current_execution_status_ = ExecutionState::ERROR;
-    } else {
-      RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Motion stopped successfully");
-      current_execution_status_ = ExecutionState::STOPPED;
-      ready_for_new_primitive_ = false;
-    }
-  } else {
-    RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "No motion to stop");
-    current_execution_status_ = ExecutionState::STOPPED;
-    ready_for_new_primitive_ = false; 
-  }
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-              " [processStopCommand] After executing stop: current_execution_status_ = %d",
-              current_execution_status_.load());
-}
-
-void MotionPrimitivesUrDriver::processResetStopCommand()
-{
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received RESET_STOP command");
-  current_execution_status_ = ExecutionState::IDLE;
-  ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-}
-
-void MotionPrimitivesUrDriver::asyncCommandThread()
-{
-  while (!async_thread_shutdown_) {
-    // Check for new commands
-    if (new_command_available_) {
-      // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncCommandThread] New command available");
-      std::vector<double> current_command;
-      {
-        std::lock_guard<std::mutex> guard(command_mutex_);
-        current_command = pending_command_;
-        new_command_available_ = false;
-      }
-
-      // Process the command
-      processMotionCommand(current_command);
-    }
-
-    // Small sleep to prevent busy waiting
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-  }
-  RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "[asyncCommandThread] Exiting");
-}
-
-void MotionPrimitivesUrDriver::processMotionCommand(const std::vector<double>& command)
-{
-  if (command.empty() || std::isnan(command[0])) {
-    return;
-  }
-  double velocity, acceleration, move_time;
-  double motion_type = command[0];
-  double blend_radius = command[21];
-
-  try {
-    switch (static_cast<uint8_t>(motion_type)) {
-      case MotionType::MOTION_SEQUENCE_START:
-      {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Received MOTION_SEQUENCE_START: add all following "
-                                                                    "commands to the motion sequence.");
-        build_motion_sequence_ = true;  // set flag to put all following commands into the motion sequence
-        motion_sequence_.clear();
-        ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-        return;
-      }
-
-      case MotionType::MOTION_SEQUENCE_END:
-      {
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                    "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives",
-                    motion_sequence_.size());
-        build_motion_sequence_ = false;
-        current_execution_status_ = ExecutionState::EXECUTING;
-        bool success = instruction_executor_->executeMotion(motion_sequence_);
-        current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                    " [processMotionCommand] After executing motion sequence: current_execution_status_ = %d",
-                    current_execution_status_.load());
-        motion_sequence_.clear();
-        if (success) {
-          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-        }
-        return;
-      }
-
-      case MotionType::LINEAR_JOINT:
-      {  // moveJ
-        // Check if joint positions are valid
-        for (int i = 1; i <= 6; ++i) {
-          if (std::isnan(command[i])) {
-            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: joint positions "
-                                                                         "contain NaN values");
-            current_execution_status_ = ExecutionState::ERROR;
-            return;
-          }
-        }
-        urcl::vector6d_t joint_positions = { command[1], command[2], command[3], command[4], command[5], command[6] };
-
-        // Get move_time OR (velocity AND acceleration)
-        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
-                                                                       "values");
-          current_execution_status_ = ExecutionState::ERROR;
-          return;
-        }
-
-        // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {  // Add command to motion sequence
-          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveJPrimitive>(
-              joint_positions, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)),
-              acceleration, velocity));
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added moveJ to motion sequence with joint positions: [%f, %f, %f, %f, %f, %f], "
-                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
-                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
-                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
-          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          return;
-        } else {  // execute single primitive directly
-          current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], "
-                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
-                      joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
-                      joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
-          bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
-          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      " [processMotionCommand] After executing moveJ: current_execution_status_ = %d",
-                      current_execution_status_.load());
-          if (success) {
-            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          }
-          return;
-        }
-        break;
-      }
-
-      case MotionType::LINEAR_CARTESIAN:
-      {  // moveL
-        // Check if pose values (position and quaternion) are valid
-        for (int i = 7; i <= 13; ++i) {
-          if (std::isnan(command[i])) {
-            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN "
-                                                                         "values");
-            current_execution_status_ = ExecutionState::ERROR;
-            return;
-          }
-        }
-        double rx, ry, rz;
-        quaternionToEuler(command[10], command[11], command[12], command[13], rx, ry, rz);
-        urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz };
-
-        // Get move_time OR (velocity AND acceleration)
-        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
-                                                                       "values");
-          current_execution_status_ = ExecutionState::ERROR;
-          return;
-        }
-
-        // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {  // Add command to motion sequence
-          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveLPrimitive>(
-              pose, blend_radius, std::chrono::milliseconds(static_cast<int>(move_time * 1000)), acceleration,
-              velocity));
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added  moveL to motion sequence with pose: [%f, %f, %f, %f, %f, %f], "
-                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
-                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
-                      blend_radius);
-          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          return;
-        } else {  // execute single primitive directly
-          current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], "
-                      "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
-                      pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
-                      blend_radius);
-          bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
-          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      " [processMotionCommand] After executing moveL: current_execution_status_ = %d",
-                      current_execution_status_.load());
-          if (success) {
-            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          }
-          return;
-        }
-        break;
-      }
-
-      case MotionType::CIRCULAR_CARTESIAN:
-      {  // CIRC
-        // Check if pose values (position and quaternion) are valid
-        for (int i = 7; i <= 20; ++i) {
-          if (std::isnan(command[i])) {
-            RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid motion command: pose contains NaN "
-                                                                         "values");
-            current_execution_status_ = ExecutionState::ERROR;
-            return;
-          }
-        }
-
-        // 0: Unconstrained mode, 1: Fixed mode
-        // (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf)
-        int32_t mode = 0;
-
-        // Get velocity and acceleration)
-        if (!getMovetimeOrVelocityAndAcceleration(command, velocity, acceleration, move_time)) {
-          RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Invalid move_time, velocity or acceleration "
-                                                                       "values");
-          current_execution_status_ = ExecutionState::ERROR;
-          return;
-        }
-
-        double via_rx, via_ry, via_rz;
-        quaternionToEuler(command[17], command[18], command[19], command[20], via_rx, via_ry, via_rz);
-        urcl::Pose via_pose = { command[14], command[15], command[16], via_rx, via_ry, via_rz };
-
-        double goal_rx, goal_ry, goal_rz;
-        quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
-        urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
-
-        // Check if the command is part of a motion sequence or a single command
-        if (build_motion_sequence_) {  // Add command to motion sequence
-          motion_sequence_.emplace_back(std::make_shared<urcl::control::MoveCPrimitive>(
-              via_pose, goal_pose, blend_radius, acceleration, velocity, mode));
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Added  moveC to motion sequence with via_pose: [%f, %f, %f, %f, %f, %f], "
-                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
-                      "acceleration: %f, blend_radius: %f, mode: %d",
-                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
-                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
-                      blend_radius, mode);
-          ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          return;
-        } else {  // execute single primitive directly
-          current_execution_status_ = ExecutionState::EXECUTING;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], "
-                      "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
-                      "acceleration: %f, blend_radius: %f, mode: %d",
-                      via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
-                      goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
-                      blend_radius, mode);
-          bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
-          current_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                      " [processMotionCommand] After executing moveC: current_execution_status_ = %d",
-                      current_execution_status_.load());
-          if (success) {
-            ready_for_new_primitive_ = true;  // set to true to allow sending new commands
-          }
-          return;
-        }
-        break;
-      }
-
-      default:
-      {
-        RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-                     "Invalid motion command: motion type %f is not supported", motion_type);
-        current_execution_status_ = ExecutionState::ERROR;
-        return;
-      }
-    }
-  } catch (const std::exception& e) {
-    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "Failed to execute motion command: %s", e.what());
-    current_execution_status_ = ExecutionState::ERROR;
-  }
-}
-
-void MotionPrimitivesUrDriver::handleRobotProgramState(bool program_running)
-{
-  robot_program_running_ = program_running;
-}
-
-// Convert quaternion to Euler angles (roll, pitch, yaw)
-// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-void MotionPrimitivesUrDriver::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry,
-                                                 double& rz)
-{
-  // roll (x-axis rotation)
-  double sinr_cosp = 2 * (qw * qx + qy * qz);
-  double cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
-  rx = std::atan2(sinr_cosp, cosr_cosp);
-
-  // pitch (y-axis rotation)
-  double sinp = std::sqrt(1 + 2 * (qw * qy - qx * qz));
-  double cosp = std::sqrt(1 - 2 * (qw * qy - qx * qz));
-  ry = 2 * std::atan2(sinp, cosp) - M_PI / 2;
-
-  // yaw (z-axis rotation)
-  double siny_cosp = 2 * (qw * qz + qx * qy);
-  double cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
-  rz = std::atan2(siny_cosp, cosy_cosp);
-
-  // RCLCPP_INFO(rclcpp::get_logger("MotionPrimitivesUrDriver"),
-  //       "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
-  //       qx, qy, qz, qw, rx, ry, rz);
-}
-
-bool MotionPrimitivesUrDriver::getMovetimeOrVelocityAndAcceleration(const std::vector<double>& command,
-                                                                    double& velocity, double& acceleration,
-                                                                    double& move_time)
-{
-  // Check if move_time is valid
-  if (!std::isnan(command[24]) && command[24] > 0.0) {
-    move_time = command[24];
-    // If move_time is valid, velocity and acceleration are ignored in moveJ and moveL, but must be > 0.0
-    velocity = 1.0;
-    acceleration = 1.0;
-    return true;
-  } else if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
-    // If no valid move_time, check if velocity and acceleration are valid
-    velocity = command[22];
-    acceleration = command[23];
-    move_time = 0.0;
-    return true;
-  } else {
-    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "move_time, velocity and acceleration are all "
-                                                                 "invalid");
-    return false;
-  }
-}
-
-bool MotionPrimitivesUrDriver::getVelocityAndAcceleration(const std::vector<double>& command, double& velocity,
-                                                          double& acceleration, double& move_time)
-{
-  // Check if velocity and acceleration are valid
-  if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
-    velocity = command[22];
-    acceleration = command[23];
-    move_time = 0.0;
-    return true;
-  } else {
-    RCLCPP_ERROR(rclcpp::get_logger("MotionPrimitivesUrDriver"), "velocity or acceleration is invalid");
-    return false;
-  }
-}
-
-}  // namespace ur_robot_driver
-
-#include "pluginlib/class_list_macros.hpp"
-
-PLUGINLIB_EXPORT_CLASS(ur_robot_driver::MotionPrimitivesUrDriver, hardware_interface::SystemInterface)
diff --git a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
deleted file mode 100644
index 090ea8434..000000000
--- a/ur_robot_driver/urdf/motion_primitive_ur.ros2_control.xacro
+++ /dev/null
@@ -1,336 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <!-- <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" /> -->
-  <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur_joint_control.xacro" />
-  <xacro:include filename="$(find ur_description)/urdf/inc/ur_sensors.xacro" />
-
-  <xacro:macro name="ur_ros2_control" params="
-    name
-    tf_prefix
-    kinematics_parameters_file
-    robot_ip
-    script_filename
-    input_recipe_filename
-    output_recipe_filename
-    transmission_hw_interface:=hardware_interface/PositionJointInterface
-    use_mock_hardware:=false mock_sensor_commands:=false
-    headless_mode:=false
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    use_tool_communication:=false
-    tool_voltage:=0 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1
-    tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 tool_device_name:=/tmp/ttyUR tool_tcp_port:=54321
-    reverse_port:=50001
-    script_sender_port:=50002
-    reverse_ip:=0.0.0.0
-    script_command_port:=50004
-    trajectory_port:=50003
-    non_blocking_read:=true
-    robot_receive_timeout:=0.04
-    ">
-
-    <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
-    <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
-    <xacro:property name="kinematics_hash" value="${sec_kinematics['hash']}" scope="parent"/>
-
-    <!-- Add URDF transmission elements (for ros_control) -->
-    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
-    <!-- Placeholder for ros2_control transmission which don't yet exist -->
-
-    <ros2_control name="${name}" type="system">
-      <hardware>
-        <xacro:if value="${use_mock_hardware}">
-          <plugin>mock_components/GenericSystem</plugin>
-          <param name="mock_sensor_commands">${mock_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
-          <param name="calculate_dynamics">true</param>
-        </xacro:if>
-        <xacro:unless value="${use_mock_hardware}">
-          <plugin>ur_robot_driver/MotionPrimitivesUrDriver</plugin>
-          <param name="robot_ip">${robot_ip}</param>
-          <param name="script_filename">${script_filename}</param>
-          <param name="output_recipe_filename">${output_recipe_filename}</param>
-          <param name="input_recipe_filename">${input_recipe_filename}</param>
-          <param name="headless_mode">${headless_mode}</param>
-          <param name="reverse_port">${reverse_port}</param>
-          <param name="script_sender_port">${script_sender_port}</param>
-          <param name="reverse_ip">${reverse_ip}</param>
-          <param name="script_command_port">${script_command_port}</param>
-          <param name="trajectory_port">${trajectory_port}</param>
-          <param name="tf_prefix">${tf_prefix}</param>
-          <param name="non_blocking_read">${non_blocking_read}</param>
-          <param name="servoj_gain">2000</param>
-          <param name="servoj_lookahead_time">0.03</param>
-          <param name="use_tool_communication">${use_tool_communication}</param>
-          <param name="kinematics/hash">${kinematics_hash}</param>
-          <param name="tool_voltage">${tool_voltage}</param>
-          <param name="tool_parity">${tool_parity}</param>
-          <param name="tool_baud_rate">${tool_baud_rate}</param>
-          <param name="tool_stop_bits">${tool_stop_bits}</param>
-          <param name="tool_rx_idle_chars">${tool_rx_idle_chars}</param>
-          <param name="tool_tx_idle_chars">${tool_tx_idle_chars}</param>
-          <param name="tool_device_name">${tool_device_name}</param>
-          <param name="tool_tcp_port">${tool_tcp_port}</param>
-          <param name="robot_receive_timeout">${robot_receive_timeout}</param>
-        </xacro:unless>
-      </hardware>
-
-      <xacro:ur_joint_control_description
-        tf_prefix="${tf_prefix}"
-        initial_positions="${initial_positions}"
-      />
-
-      <xacro:ur_sensors
-        tf_prefix="${tf_prefix}"
-      />
-
-      <!-- NOTE The following are joints used only for testing with mock hardware and will change in the future -->
-      <gpio name="${tf_prefix}speed_scaling">
-        <state_interface name="speed_scaling_factor">
-          <param name="initial_value">1.0</param>
-        </state_interface>
-        <!-- <command_interface name="target_speed_fraction_cmd"/>
-        <command_interface name="target_speed_fraction_async_success"/> -->
-      </gpio>
-
-      <gpio name="${tf_prefix}gpio">
-        <!-- <command_interface name="standard_digital_output_cmd_0"/>
-        <command_interface name="standard_digital_output_cmd_1"/>
-        <command_interface name="standard_digital_output_cmd_2"/>
-        <command_interface name="standard_digital_output_cmd_3"/>
-        <command_interface name="standard_digital_output_cmd_4"/>
-        <command_interface name="standard_digital_output_cmd_5"/>
-        <command_interface name="standard_digital_output_cmd_6"/>
-        <command_interface name="standard_digital_output_cmd_7"/>
-        <command_interface name="standard_digital_output_cmd_8"/>
-        <command_interface name="standard_digital_output_cmd_9"/>
-        <command_interface name="standard_digital_output_cmd_10"/>
-        <command_interface name="standard_digital_output_cmd_11"/>
-        <command_interface name="standard_digital_output_cmd_12"/>
-        <command_interface name="standard_digital_output_cmd_13"/>
-        <command_interface name="standard_digital_output_cmd_14"/>
-        <command_interface name="standard_digital_output_cmd_15"/>
-        <command_interface name="standard_digital_output_cmd_16"/>
-        <command_interface name="standard_digital_output_cmd_17"/>
-
-        <command_interface name="standard_analog_output_cmd_0"/>
-        <command_interface name="standard_analog_output_cmd_1"/>
-        <command_interface name="analog_output_domain_cmd"/>
-
-        <command_interface name="tool_voltage_cmd"/>
-
-        <command_interface name="io_async_success"/> -->
-
-        <state_interface name="digital_output_0"/>
-        <state_interface name="digital_output_1"/>
-        <state_interface name="digital_output_2"/>
-        <state_interface name="digital_output_3"/>
-        <state_interface name="digital_output_4"/>
-        <state_interface name="digital_output_5"/>
-        <state_interface name="digital_output_6"/>
-        <state_interface name="digital_output_7"/>
-        <state_interface name="digital_output_8"/>
-        <state_interface name="digital_output_9"/>
-        <state_interface name="digital_output_10"/>
-        <state_interface name="digital_output_11"/>
-        <state_interface name="digital_output_12"/>
-        <state_interface name="digital_output_13"/>
-        <state_interface name="digital_output_14"/>
-        <state_interface name="digital_output_15"/>
-        <state_interface name="digital_output_16"/>
-        <state_interface name="digital_output_17"/>
-
-        <state_interface name="digital_input_0"/>
-        <state_interface name="digital_input_1"/>
-        <state_interface name="digital_input_2"/>
-        <state_interface name="digital_input_3"/>
-        <state_interface name="digital_input_4"/>
-        <state_interface name="digital_input_5"/>
-        <state_interface name="digital_input_6"/>
-        <state_interface name="digital_input_7"/>
-        <state_interface name="digital_input_8"/>
-        <state_interface name="digital_input_9"/>
-        <state_interface name="digital_input_10"/>
-        <state_interface name="digital_input_11"/>
-        <state_interface name="digital_input_12"/>
-        <state_interface name="digital_input_13"/>
-        <state_interface name="digital_input_14"/>
-        <state_interface name="digital_input_15"/>
-        <state_interface name="digital_input_16"/>
-        <state_interface name="digital_input_17"/>
-
-        <state_interface name="standard_analog_output_0"/>
-        <state_interface name="standard_analog_output_1"/>
-
-        <state_interface name="standard_analog_input_0"/>
-        <state_interface name="standard_analog_input_1"/>
-
-        <state_interface name="analog_io_type_0"/>
-        <state_interface name="analog_io_type_1"/>
-        <state_interface name="analog_io_type_2"/>
-        <state_interface name="analog_io_type_3"/>
-
-        <state_interface name="tool_mode"/>
-        <state_interface name="tool_output_voltage"/>
-        <state_interface name="tool_output_current"/>
-        <state_interface name="tool_temperature"/>
-
-        <state_interface name="tool_analog_input_0"/>
-        <state_interface name="tool_analog_input_1"/>
-
-        <state_interface name="tool_analog_input_type_0"/>
-        <state_interface name="tool_analog_input_type_1"/>
-
-        <state_interface name="robot_mode"/>
-        <state_interface name="robot_status_bit_0"/>
-        <state_interface name="robot_status_bit_1"/>
-        <state_interface name="robot_status_bit_2"/>
-        <state_interface name="robot_status_bit_3"/>
-
-        <state_interface name="safety_mode"/>
-        <state_interface name="safety_status_bit_0"/>
-        <state_interface name="safety_status_bit_1"/>
-        <state_interface name="safety_status_bit_2"/>
-        <state_interface name="safety_status_bit_3"/>
-        <state_interface name="safety_status_bit_4"/>
-        <state_interface name="safety_status_bit_5"/>
-        <state_interface name="safety_status_bit_6"/>
-        <state_interface name="safety_status_bit_7"/>
-        <state_interface name="safety_status_bit_8"/>
-        <state_interface name="safety_status_bit_9"/>
-        <state_interface name="safety_status_bit_10"/>
-
-        <state_interface name="program_running"/>
-      </gpio>
-
-      <!-- <gpio name="${tf_prefix}payload">
-        <command_interface name="mass"/>
-        <command_interface name="cog.x"/>
-        <command_interface name="cog.y"/>
-        <command_interface name="cog.z"/>
-        <command_interface name="payload_async_success"/>
-      </gpio> -->
-
-      <!-- <gpio name="${tf_prefix}resend_robot_program">
-        <command_interface name="resend_robot_program_cmd"/>
-        <command_interface name="resend_robot_program_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}hand_back_control">
-        <command_interface name="hand_back_control_cmd"/>
-        <command_interface name="hand_back_control_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}zero_ftsensor">
-        <command_interface name="zero_ftsensor_cmd"/>
-        <command_interface name="zero_ftsensor_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}freedrive_mode">
-        <command_interface name="async_success"/>
-        <command_interface name="enable"/>
-        <command_interface name="abort"/>
-      </gpio> -->
-
-      <gpio name="${tf_prefix}system_interface">
-        <state_interface name="initialized"/>
-      </gpio>
-
-      <!-- <gpio name="${tf_prefix}force_mode">
-        <command_interface name="task_frame_x"/>
-        <command_interface name="task_frame_y"/>
-        <command_interface name="task_frame_z"/>
-        <command_interface name="task_frame_rx"/>
-        <command_interface name="task_frame_ry"/>
-        <command_interface name="task_frame_rz"/>
-        <command_interface name="selection_vector_x"/>
-        <command_interface name="selection_vector_y"/>
-        <command_interface name="selection_vector_z"/>
-        <command_interface name="selection_vector_rx"/>
-        <command_interface name="selection_vector_ry"/>
-        <command_interface name="selection_vector_rz"/>
-        <command_interface name="wrench_x"/>
-        <command_interface name="wrench_y"/>
-        <command_interface name="wrench_z"/>
-        <command_interface name="wrench_rx"/>
-        <command_interface name="wrench_ry"/>
-        <command_interface name="wrench_rz"/>
-        <command_interface name="limits_x"/>
-        <command_interface name="limits_y"/>
-        <command_interface name="limits_z"/>
-        <command_interface name="limits_rx"/>
-        <command_interface name="limits_ry"/>
-        <command_interface name="limits_rz"/>
-        <command_interface name="type"/>
-        <command_interface name="damping"/>
-        <command_interface name="gain_scaling"/>
-        <command_interface name="disable_cmd"/>
-        <command_interface name="force_mode_async_success"/>
-      </gpio>
-
-      <gpio name="${tf_prefix}trajectory_passthrough">
-        <command_interface name="setpoint_positions_0"/>
-        <command_interface name="setpoint_positions_1"/>
-        <command_interface name="setpoint_positions_2"/>
-        <command_interface name="setpoint_positions_3"/>
-        <command_interface name="setpoint_positions_4"/>
-        <command_interface name="setpoint_positions_5"/>
-        <command_interface name="setpoint_velocities_0"/>
-        <command_interface name="setpoint_velocities_1"/>
-        <command_interface name="setpoint_velocities_2"/>
-        <command_interface name="setpoint_velocities_3"/>
-        <command_interface name="setpoint_velocities_4"/>
-        <command_interface name="setpoint_velocities_5"/>
-        <command_interface name="setpoint_accelerations_0"/>
-        <command_interface name="setpoint_accelerations_1"/>
-        <command_interface name="setpoint_accelerations_2"/>
-        <command_interface name="setpoint_accelerations_3"/>
-        <command_interface name="setpoint_accelerations_4"/>
-        <command_interface name="setpoint_accelerations_5"/>
-        <command_interface name="transfer_state"/>
-        <command_interface name="time_from_start"/>
-        <command_interface name="abort"/>
-      </gpio> -->
-
-
-      <gpio name="${tf_prefix}get_robot_software_version">
-        <state_interface name="get_version_major"/>
-        <state_interface name="get_version_minor"/>
-        <state_interface name="get_version_build"/>
-        <state_interface name="get_version_bugfix"/>
-      </gpio>
-
-      <gpio name="motion_primitive">
-        <command_interface name="motion_type"/>
-        <command_interface name="q1"/>
-        <command_interface name="q2"/>
-        <command_interface name="q3"/>
-        <command_interface name="q4"/>
-        <command_interface name="q5"/>
-        <command_interface name="q6"/>
-        <command_interface name="pos_x"/>
-        <command_interface name="pos_y"/>
-        <command_interface name="pos_z"/>
-        <command_interface name="pos_qx"/>
-        <command_interface name="pos_qy"/>
-        <command_interface name="pos_qz"/>
-        <command_interface name="pos_qw"/>
-        <command_interface name="pos_via_x"/>
-        <command_interface name="pos_via_y"/>
-        <command_interface name="pos_via_z"/>
-        <command_interface name="pos_via_qx"/>
-        <command_interface name="pos_via_qy"/>
-        <command_interface name="pos_via_qz"/>
-        <command_interface name="pos_via_qw"/>
-        <command_interface name="blend_radius"/>
-        <command_interface name="velocity"/>
-        <command_interface name="acceleration"/>
-        <command_interface name="move_time"/>
-
-        <state_interface name="execution_status"/>
-        <state_interface name="ready_for_new_primitive"/>
-      </gpio>
-
-    </ros2_control>
-  </xacro:macro>
-</robot>
diff --git a/ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro b/ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro
deleted file mode 100644
index b2c4c5c14..000000000
--- a/ur_robot_driver/urdf/motion_primitive_ur_joint_control.xacro
+++ /dev/null
@@ -1,93 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:macro name="ur_joint_control_description" params="
-    tf_prefix
-    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
-    ">
-    <joint name="${tf_prefix}shoulder_pan_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="${tf_prefix}shoulder_lift_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="${tf_prefix}elbow_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['elbow_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="${tf_prefix}wrist_1_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="${tf_prefix}wrist_2_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="${tf_prefix}wrist_3_joint">
-      <!-- <command_interface name="position"/> -->
-      <!-- <command_interface name="velocity"/> -->
-      <state_interface name="position">
-        <!-- initial position for the mock system and simulation -->
-        <param name="initial_value">${initial_positions['wrist_3_joint']}</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-  </xacro:macro>
-</robot>
diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
index 91e73a888..63437d9b4 100644
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/ur.ros2_control.xacro
@@ -298,6 +298,38 @@
         <state_interface name="get_version_build"/>
         <state_interface name="get_version_bugfix"/>
       </gpio>
+
+      <gpio name="motion_primitive">
+        <command_interface name="motion_type"/>
+        <command_interface name="q1"/>
+        <command_interface name="q2"/>
+        <command_interface name="q3"/>
+        <command_interface name="q4"/>
+        <command_interface name="q5"/>
+        <command_interface name="q6"/>
+        <command_interface name="pos_x"/>
+        <command_interface name="pos_y"/>
+        <command_interface name="pos_z"/>
+        <command_interface name="pos_qx"/>
+        <command_interface name="pos_qy"/>
+        <command_interface name="pos_qz"/>
+        <command_interface name="pos_qw"/>
+        <command_interface name="pos_via_x"/>
+        <command_interface name="pos_via_y"/>
+        <command_interface name="pos_via_z"/>
+        <command_interface name="pos_via_qx"/>
+        <command_interface name="pos_via_qy"/>
+        <command_interface name="pos_via_qz"/>
+        <command_interface name="pos_via_qw"/>
+        <command_interface name="blend_radius"/>
+        <command_interface name="velocity"/>
+        <command_interface name="acceleration"/>
+        <command_interface name="move_time"/>
+
+        <state_interface name="execution_status"/>
+        <state_interface name="ready_for_new_primitive"/>
+      </gpio>
+
     </ros2_control>
   </xacro:macro>
 </robot>
diff --git a/ur_robot_driver/urdf/ur.urdf.xacro b/ur_robot_driver/urdf/ur.urdf.xacro
index e8f598d14..6c8e3c817 100644
--- a/ur_robot_driver/urdf/ur.urdf.xacro
+++ b/ur_robot_driver/urdf/ur.urdf.xacro
@@ -3,22 +3,12 @@
   <!-- robot name parameter -->
   <xacro:arg name="name" default="ur"/>
 
-  <xacro:arg name="driver_type" default="standard" />
-
   <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
-
   <!-- ros2 control include -->
-  <xacro:property name="driver_type" value="$(arg driver_type)" />
-  <xacro:if value="${driver_type == 'standard'}">
-    <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
-  </xacro:if>
-  <xacro:if value="${driver_type == 'motion_primitive'}">
-    <xacro:include filename="$(find ur_robot_driver)/urdf/motion_primitive_ur.ros2_control.xacro" />
-  </xacro:if>
-
+  <xacro:include filename="$(find ur_robot_driver)/urdf/ur.ros2_control.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/inc/ur_transmissions.xacro" />
 
-  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur7e, ur10, ur10e, ur12e, ur16e, ur15, ur20, ur30 -->
   <!-- the default value should raise an error in case this was called without defining the type -->
   <xacro:arg name="ur_type" default="urXe"/>
 
@@ -113,4 +103,4 @@
     trajectory_port="$(arg trajectory_port)"
   />
 
-</robot>
+</robot>
\ No newline at end of file

From 9b1ad3d3a4f6d662223afa183bc96b12a17eff4a Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 2 Jun 2025 15:31:46 +0200
Subject: [PATCH 51/99] integrated motion_primitives_ur_driver into
 hardware_interface. Executing primitives working and switching modes during
 runtime successfull.

---
 ur_robot_driver/README_MotionPrimitive.md     |  12 +-
 .../ur_robot_driver/hardware_interface.hpp    |   3 +
 ur_robot_driver/launch/ur_control.launch.py   |   6 +-
 ur_robot_driver/src/hardware_interface.cpp    | 191 +++++++++++++-----
 ur_robot_driver/urdf/ur.ros2_control.xacro    |   2 +-
 5 files changed, 158 insertions(+), 56 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index f3033c810..c246da19c 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -117,11 +117,15 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 ## Launch hardware_interface with motion_primitives_ur_driver
 With URSim:
 ```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_controller
 ```
 With H-KA UR10e:
 ```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_controller
+```
+## Switching control mode
+```
+ros2 control switch_controllers --activate motion_primitive_controller --deactivate scaled_joint_trajectory_controller
 ```
 ## Publish dummy commands
 > [!WARNING]  
@@ -170,3 +174,7 @@ https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_rob
 ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
 ```
 
+```
+ros2 run ur_robot_driver send_joint_positions.py
+```
+
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 70451b6d9..915a6429d 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -87,6 +87,7 @@ enum StoppingInterface
   STOP_PASSTHROUGH,
   STOP_FORCE_MODE,
   STOP_FREEDRIVE,
+  STOP_MOTION_PRIMITIVES,
 };
 
 // We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
@@ -309,6 +310,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
   bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
   void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
+
+  const std::string HW_IF_MOTION_PRIMITIVES = "motion_primitive";
   //*************** End Motion primitives stuff ***************
 
   // copy of non double values
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index ea1dfd803..0fc033ec0 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -179,7 +179,6 @@ def controller_spawner(controllers, active=True):
     controllers_active = [
         "joint_state_broadcaster",
         "io_and_status_controller",
-        "motion_primitive_controller",
         "speed_scaling_state_broadcaster",
         "force_torque_sensor_broadcaster",
         "tcp_pose_broadcaster",
@@ -193,7 +192,7 @@ def controller_spawner(controllers, active=True):
         "force_mode_controller",
         "passthrough_trajectory_controller",
         "freedrive_mode_controller",
-        "tool_contact_controller",
+        "motion_primitive_controller",
     ]
     if activate_joint_controller.perform(context) == "true":
         controllers_active.append(initial_joint_controller.perform(context))
@@ -326,7 +325,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "headless_mode",
-            default_value="false",
+            default_value="true",
             description="Enable headless mode for robot control",
         )
     )
@@ -348,6 +347,7 @@ def generate_launch_description():
                 "forward_position_controller",
                 "freedrive_mode_controller",
                 "passthrough_trajectory_controller",
+                "motion_primitive_controller",
             ],
             description="Initially loaded robot controller.",
         )
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 2f5530796..1e0e28def 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -107,7 +107,7 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   new_moprim_reset_available_ = false;
   current_moprim_execution_status_ = ExecutionState::IDLE;
   ready_for_new_moprim_ = false;
-  motion_primitives_forward_controller_running_ = true; //TODO(mathias31415) set this correctly --> true for testing
+  motion_primitives_forward_controller_running_ = false;
   // 2 States: execution_status, ready_for_new_primitive
   hw_moprim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
   // 25 Commands: // motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration + move_time
@@ -283,9 +283,9 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
 
   // Motion primitives stuff
   state_interfaces.emplace_back(
-      hardware_interface::StateInterface("motion_primitive", "execution_status", &hw_moprim_states_[0]));
+      hardware_interface::StateInterface(HW_IF_MOTION_PRIMITIVES, "execution_status", &hw_moprim_states_[0]));
   state_interfaces.emplace_back(
-      hardware_interface::StateInterface("motion_primitive", "ready_for_new_primitive", &hw_moprim_states_[1]));
+      hardware_interface::StateInterface(HW_IF_MOTION_PRIMITIVES, "ready_for_new_primitive", &hw_moprim_states_[1]));
 
 
   return state_interfaces;
@@ -425,59 +425,59 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
   // Motion primitives stuff
   // Command for motion type (motion_type)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "motion_type", &hw_moprim_commands_[0]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "motion_type", &hw_moprim_commands_[0]));
   // Joint position commands (q1, q2, ..., q6)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q1", &hw_moprim_commands_[1]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q1", &hw_moprim_commands_[1]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q2", &hw_moprim_commands_[2]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q2", &hw_moprim_commands_[2]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q3", &hw_moprim_commands_[3]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q3", &hw_moprim_commands_[3]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q4", &hw_moprim_commands_[4]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q4", &hw_moprim_commands_[4]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q5", &hw_moprim_commands_[5]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q5", &hw_moprim_commands_[5]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "q6", &hw_moprim_commands_[6]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q6", &hw_moprim_commands_[6]));
   // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_x", &hw_moprim_commands_[7]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_x", &hw_moprim_commands_[7]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_y", &hw_moprim_commands_[8]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_y", &hw_moprim_commands_[8]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_z", &hw_moprim_commands_[9]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_z", &hw_moprim_commands_[9]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qx", &hw_moprim_commands_[10]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qx", &hw_moprim_commands_[10]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qy", &hw_moprim_commands_[11]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qy", &hw_moprim_commands_[11]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qz", &hw_moprim_commands_[12]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qz", &hw_moprim_commands_[12]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_qw", &hw_moprim_commands_[13]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qw", &hw_moprim_commands_[13]));
   // Via Position commands for circula motion
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_x", &hw_moprim_commands_[14]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_x", &hw_moprim_commands_[14]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_y", &hw_moprim_commands_[15]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_y", &hw_moprim_commands_[15]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_z", &hw_moprim_commands_[16]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_z", &hw_moprim_commands_[16]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qx", &hw_moprim_commands_[17]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qx", &hw_moprim_commands_[17]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qy", &hw_moprim_commands_[18]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qy", &hw_moprim_commands_[18]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qz", &hw_moprim_commands_[19]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qz", &hw_moprim_commands_[19]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "pos_via_qw", &hw_moprim_commands_[20]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qw", &hw_moprim_commands_[20]));
   // Other command parameters (blend_radius, velocity, acceleration, move_time)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "blend_radius", &hw_moprim_commands_[21]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "blend_radius", &hw_moprim_commands_[21]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "velocity", &hw_moprim_commands_[22]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "velocity", &hw_moprim_commands_[22]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "acceleration", &hw_moprim_commands_[23]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "acceleration", &hw_moprim_commands_[23]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface("motion_primitive", "move_time", &hw_moprim_commands_[24]));
+      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "move_time", &hw_moprim_commands_[24]));
 
   return command_interfaces;
 }
@@ -662,21 +662,19 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   get_robot_software_version_build_ = version_info.build;
   get_robot_software_version_bugfix_ = version_info.bugfix;
 
-  // TODO(mathias31415) Check if this should only be done if moprim controller is used
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing InstructionExecutor");
   instruction_executor_ = std::make_shared<urcl::InstructionExecutor>(ur_driver_);
 
   async_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncThread, this);
 
   // Start async thread for sending motion primitives
-  // TODO(mathias31415) Check if this should only be done if moprim controller is used
   async_moprim_cmd_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimCmdThread, this);
   async_moprim_stop_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimStopThread, this);
 
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "System successfully started!");
 
   ur_driver_->registerTrajectoryDoneCallback(
-      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
+      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1)); //conflict with instruction_executor_ --> callback function needs to get changed when using instruction executor
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -686,9 +684,6 @@ URPositionHardwareInterface::on_activate(const rclcpp_lifecycle::State& previous
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Activating HW interface");
 
-  // TODO(mathias31415) Check if this should only be done if moprim controller is used/ activated
-  ready_for_new_moprim_ = true;  // set to true to allow controller to send new motion primitives
-
   for (size_t i = 0; i < 6; i++) {
     force_mode_task_frame_[i] = NO_NEW_CMD_;
     force_mode_selection_vector_[i] = static_cast<uint32_t>(NO_NEW_CMD_);
@@ -901,8 +896,10 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:
     } else if (passthrough_trajectory_controller_running_) {
       ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);
       check_passthrough_trajectory_controller();
+
     } else if (motion_primitives_forward_controller_running_) {
       handleMoprimCommands();
+
     } else {
       ur_driver_->writeKeepalive();
     }
@@ -1141,6 +1138,9 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
     if (freedrive_mode_controller_running_) {
       control_modes[i].push_back(FREEDRIVE_MODE_GPIO);
     }
+    if (motion_primitives_forward_controller_running_) {
+      control_modes[i].push_back(HW_IF_MOTION_PRIMITIVES);
+    }
   }
 
   if (!std::all_of(start_modes_.begin() + 1, start_modes_.end(),
@@ -1194,6 +1194,15 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
           return hardware_interface::return_type::ERROR;
         }
         start_modes_[i].push_back(FREEDRIVE_MODE_GPIO);
+
+      } else if (key == tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type") {
+        if (std::any_of(start_modes_[i].begin(), start_modes_[i].end(), [&](const std::string& item) {
+              return item == hardware_interface::HW_IF_POSITION || item == hardware_interface::HW_IF_VELOCITY ||
+                     item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO;
+            })) {
+          return hardware_interface::return_type::ERROR;
+        }
+        start_modes_[i].push_back(HW_IF_MOTION_PRIMITIVES);
       }
     }
   }
@@ -1234,6 +1243,12 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                                               [&](const std::string& item) { return item == FREEDRIVE_MODE_GPIO; }),
                                control_modes[i].end());
       }
+      if (key == tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type") {
+        stop_modes_[i].push_back(StoppingInterface::STOP_MOTION_PRIMITIVES);
+        control_modes[i].erase(std::remove_if(control_modes[i].begin(), control_modes[i].end(),
+                                              [&](const std::string& item) { return item == HW_IF_MOTION_PRIMITIVES; }),
+                               control_modes[i].end());
+      }
     }
   }
 
@@ -1244,14 +1259,14 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                    [this](auto& item) {
                      return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                             item == FREEDRIVE_MODE_GPIO);
+                             item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == FREEDRIVE_MODE_GPIO);
+                 item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start passthrough_trajectory control while there is either position or "
-                               "velocity or freedrive mode running.");
+                               "velocity or motion primitives or freedrive mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
@@ -1261,14 +1276,14 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                    [this](auto& item) {
                      return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                             item == FREEDRIVE_MODE_GPIO);
+                             item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                 item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start force mode control while there is either position or "
-                               "velocity mode running.");
+                               "velocity or motion primitives mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
@@ -1278,14 +1293,14 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                    [this](auto& item) {
                      return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                             item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO);
+                             item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO);
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start force mode control while there is either position or "
-                               "velocity mode running.");
+                               "velocity or motion primitives mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
@@ -1295,14 +1310,14 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                    [this](auto& item) {
                      return (item == hardware_interface::HW_IF_VELOCITY || item == PASSTHROUGH_GPIO ||
-                             item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                             item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start position control while there is either trajectory passthrough or "
-                               "velocity mode or force_mode or freedrive mode running.");
+                               "velocity mode or motion primitives moder or force_mode or freedrive mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
@@ -1312,14 +1327,32 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                    [this](auto& item) {
                      return (item == hardware_interface::HW_IF_POSITION || item == PASSTHROUGH_GPIO ||
-                             item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                             item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
        }))) {
-    RCLCPP_ERROR(get_logger(), "Attempting to start velosity control while there is either trajectory passthrough or "
-                               "position mode or force_mode or freedrive mode running.");
+    RCLCPP_ERROR(get_logger(), "Attempting to start velocity control while there is either trajectory passthrough or "
+                               "position mode or motion primitives mode or force_mode or freedrive mode running.");
+    ret_val = hardware_interface::return_type::ERROR;
+  }
+
+    // Motion primitives mode requested to start
+  if (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
+                  [this](auto& item) { return (item == HW_IF_MOTION_PRIMITIVES); }) &&
+      (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
+                   [this](auto& item) {
+                     return (item == hardware_interface::HW_IF_POSITION || item == hardware_interface::HW_IF_VELOCITY ||
+                             item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO);
+                   }) ||
+       std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
+         return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO ||
+                 item == HW_IF_MOTION_PRIMITIVES);
+       }))) {
+    RCLCPP_ERROR(get_logger(), "Attempting to start motion primitives control while there is either trajectory passthrough or "
+                               "position mode or velocity mode or force_mode or freedrive mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
@@ -1356,12 +1389,25 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     freedrive_mode_controller_running_ = false;
     freedrive_activated_ = false;
     freedrive_mode_abort_ = 1.0;
+  } else if (stop_modes_.size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
+                                                  StoppingInterface::STOP_MOTION_PRIMITIVES) != stop_modes_[0].end()) {
+    motion_primitives_forward_controller_running_ = false;
+    resetMoprimCmdInterfaces();
+    current_moprim_execution_status_ = ExecutionState::IDLE;
+    ready_for_new_moprim_ = false;
+    
+    // use the callback from the hardware_interface implementation (not the one of the instruction_executor_)
+    ur_driver_->registerTrajectoryDoneCallback(
+      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
+
+    RCLCPP_INFO(get_logger(), "Motion primitives mode stopped.");
   }
 
   if (start_modes_.size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
                                             hardware_interface::HW_IF_POSITION) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     passthrough_trajectory_controller_running_ = false;
+    motion_primitives_forward_controller_running_ = false;
     urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
     position_controller_running_ = true;
 
@@ -1369,23 +1415,43 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
                                                       hardware_interface::HW_IF_VELOCITY) != start_modes_[0].end()) {
     position_controller_running_ = false;
     passthrough_trajectory_controller_running_ = false;
+    motion_primitives_forward_controller_running_ = false;
     urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
     velocity_controller_running_ = true;
   } else if (start_modes_[0].size() != 0 &&
              std::find(start_modes_[0].begin(), start_modes_[0].end(), FORCE_MODE_GPIO) != start_modes_[0].end()) {
+              motion_primitives_forward_controller_running_ = false;
     force_mode_controller_running_ = true;
   } else if (start_modes_[0].size() != 0 &&
              std::find(start_modes_[0].begin(), start_modes_[0].end(), PASSTHROUGH_GPIO) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     position_controller_running_ = false;
+    motion_primitives_forward_controller_running_ = false;
     passthrough_trajectory_controller_running_ = true;
     passthrough_trajectory_abort_ = 0.0;
   } else if (start_modes_[0].size() != 0 &&
              std::find(start_modes_[0].begin(), start_modes_[0].end(), FREEDRIVE_MODE_GPIO) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     position_controller_running_ = false;
+    motion_primitives_forward_controller_running_ = false;
     freedrive_mode_controller_running_ = true;
     freedrive_activated_ = false;
+  } else if (start_modes_[0].size() != 0 && 
+             std::find(start_modes_[0].begin(), start_modes_[0].end(), HW_IF_MOTION_PRIMITIVES) != start_modes_[0].end()) {
+    velocity_controller_running_ = false;
+    position_controller_running_ = false;
+    freedrive_mode_controller_running_ = false;
+    passthrough_trajectory_controller_running_ = false;
+    force_mode_controller_running_ = false;
+    
+    // use the callback from the instruction_executor_ (not the one of the hardware_interface implementation)
+    instruction_executor_->registerTrajDoneCallback();
+    resetMoprimCmdInterfaces();
+    current_moprim_execution_status_ = ExecutionState::IDLE;
+    ready_for_new_moprim_ = true;
+    motion_primitives_forward_controller_running_ = true;
+
+    RCLCPP_INFO(get_logger(), "Motion primitives mode started.");
   }
 
   start_modes_.clear();
@@ -1857,6 +1923,31 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
   }
 }
 
+// Convert quaternion to Euler angles (roll, pitch, yaw)
+// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry,
+                                                 double& rz)
+{
+  // roll (x-axis rotation)
+  double sinr_cosp = 2 * (qw * qx + qy * qz);
+  double cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
+  rx = std::atan2(sinr_cosp, cosr_cosp);
+
+  // pitch (y-axis rotation)
+  double sinp = std::sqrt(1 + 2 * (qw * qy - qx * qz));
+  double cosp = std::sqrt(1 - 2 * (qw * qy - qx * qz));
+  ry = 2 * std::atan2(sinp, cosp) - M_PI / 2;
+
+  // yaw (z-axis rotation)
+  double siny_cosp = 2 * (qw * qz + qx * qy);
+  double cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
+  rz = std::atan2(siny_cosp, cosy_cosp);
+
+  // RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
+  //       "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
+  //       qx, qy, qz, qw, rx, ry, rz);
+}
+
 bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command,
                                                                     double& velocity, double& acceleration,
                                                                     double& move_time)
diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
index 63437d9b4..4af3b15d8 100644
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/ur.ros2_control.xacro
@@ -299,7 +299,7 @@
         <state_interface name="get_version_bugfix"/>
       </gpio>
 
-      <gpio name="motion_primitive">
+      <gpio name="${tf_prefix}motion_primitive">
         <command_interface name="motion_type"/>
         <command_interface name="q1"/>
         <command_interface name="q2"/>

From faf98b9eca6e186babfd74008da2af90244bf27c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 2 Jun 2025 15:46:07 +0200
Subject: [PATCH 52/99] pre-commit fixes

---
 ur_robot_driver/README_MotionPrimitive.md     |  3 +-
 .../send_dummy_motion_primitives_hka_ur10e.py | 24 ++++-
 .../examples/send_joint_positions.py          | 91 +++++++++++++++----
 .../ur_robot_driver/hardware_interface.hpp    | 14 +--
 ur_robot_driver/launch/ur_control.launch.py   |  2 +-
 ur_robot_driver/launch/ur_rsp.launch.py       |  2 +-
 ur_robot_driver/src/hardware_interface.cpp    | 76 ++++++++--------
 ur_robot_driver/urdf/ur.urdf.xacro            |  2 +-
 8 files changed, 144 insertions(+), 70 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index c246da19c..176ded542 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -128,7 +128,7 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.16
 ros2 control switch_controllers --activate motion_primitive_controller --deactivate scaled_joint_trajectory_controller
 ```
 ## Publish dummy commands
-> [!WARNING]  
+> [!WARNING]
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
 ros2 run ur_robot_driver send_dummy_motion_primitives_hka_ur10e.py
@@ -177,4 +177,3 @@ ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
 ```
 ros2 run ur_robot_driver send_joint_positions.py
 ```
-
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index b198f5593..e44b8190a 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -34,7 +34,7 @@
 msg_moveJ_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=joint_velocity),
     MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
-]   # MotionArgument(argument_name="move_time", argument_value=0.0),
+]  # MotionArgument(argument_name="move_time", argument_value=0.0),
 
 # Linear movement down
 msg_moveL_1 = MotionPrimitive()
@@ -43,7 +43,7 @@
 msg_moveL_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=cart_velocity),
     MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
-]   
+]
 pose_L1 = PoseStamped()
 pose_L1.pose.position.x = 0.174
 pose_L1.pose.position.y = -0.692
@@ -76,11 +76,11 @@
 msg_moveJ_2 = MotionPrimitive()
 msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
 msg_moveJ_2.blend_radius = 0.1
-msg_moveJ_2.joint_positions = [0.9, -1.57, 1.57, -1.57, -1.57, -1.57] # xyz = 0.294, 0.650, 0.677
+msg_moveJ_2.joint_positions = [0.9, -1.57, 1.57, -1.57, -1.57, -1.57]  # xyz = 0.294, 0.650, 0.677
 msg_moveJ_2.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=joint_velocity),
     MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
-]   
+]
 
 # Circular movement
 msg_moveC_1 = MotionPrimitive()
@@ -124,6 +124,7 @@
 ]
 msg_moveL_3.poses = [pose_C1_goal]
 
+
 class MotionPublisher(Node):
     def __init__(self):
         super().__init__("motion_publisher")
@@ -134,7 +135,20 @@ def __init__(self):
 
         # self.messages = [msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1]
         # self.messages = [msg_start_sequence, msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_end_sequence]
-        self.messages = [msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_start_sequence, msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_end_sequence]
+        self.messages = [
+            msg_moveJ_1,
+            msg_moveL_1,
+            msg_moveL_2,
+            msg_moveJ_2,
+            msg_moveC_1,
+            msg_start_sequence,
+            msg_moveJ_1,
+            msg_moveL_1,
+            msg_moveL_2,
+            msg_moveJ_2,
+            msg_moveC_1,
+            msg_end_sequence,
+        ]
 
         self.get_logger().info(f"Number of messages: {len(self.messages)}")
 
diff --git a/ur_robot_driver/examples/send_joint_positions.py b/ur_robot_driver/examples/send_joint_positions.py
index 4d23b2523..9357b2f82 100755
--- a/ur_robot_driver/examples/send_joint_positions.py
+++ b/ur_robot_driver/examples/send_joint_positions.py
@@ -21,42 +21,97 @@
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 import time
 
+
 class TrajectoryPublisher(Node):
     def __init__(self):
-        super().__init__('trajectory_publisher')
-        self.publisher_ = self.create_publisher(JointTrajectory, '/scaled_joint_trajectory_controller/joint_trajectory', 10)
+        super().__init__("trajectory_publisher")
+        self.publisher_ = self.create_publisher(
+            JointTrajectory, "/scaled_joint_trajectory_controller/joint_trajectory", 10
+        )
         time.sleep(1)  # Allow time for publisher to be ready
 
     def publish_trajectory_startponit(self):
         msg = JointTrajectory()
         msg.header.stamp = self.get_clock().now().to_msg()
-        msg.joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
-        msg.points = [JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=3).to_msg())] # H-KA UR10e
+        msg.joint_names = [
+            "shoulder_pan_joint",
+            "shoulder_lift_joint",
+            "elbow_joint",
+            "wrist_1_joint",
+            "wrist_2_joint",
+            "wrist_3_joint",
+        ]
+        msg.points = [
+            JointTrajectoryPoint(
+                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=3).to_msg(),
+            )
+        ]  # H-KA UR10e
         self.publisher_.publish(msg)
-        self.get_logger().info('Trajectory startpoint published successfully.')
+        self.get_logger().info("Trajectory startpoint published successfully.")
 
     def publish_trajectory_sequence(self):
         msg = JointTrajectory()
         msg.header.stamp = self.get_clock().now().to_msg()
-        msg.joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
+        msg.joint_names = [
+            "shoulder_pan_joint",
+            "shoulder_lift_joint",
+            "elbow_joint",
+            "wrist_1_joint",
+            "wrist_2_joint",
+            "wrist_3_joint",
+        ]
 
         # Define multiple trajectory points
         # H-KA UR10e
         points = [
             # JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=).to_msg()),
-            JointTrajectoryPoint(positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=1).to_msg()),
-            JointTrajectoryPoint(positions=[2.0, -0.9, 0.7, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=2).to_msg()),
-            JointTrajectoryPoint(positions=[2.4, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=3).to_msg()),
-            JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=4).to_msg()),
-            JointTrajectoryPoint(positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=5).to_msg()),
-            JointTrajectoryPoint(positions=[1.1, -0.9, 0.7, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=6).to_msg()),
-            JointTrajectoryPoint(positions=[0.7, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=7).to_msg()),
-            JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=8).to_msg()),
+            JointTrajectoryPoint(
+                positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=1).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[2.0, -0.9, 0.7, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=2).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[2.4, -1.57, 1.57, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=3).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=4).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=5).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[1.1, -0.9, 0.7, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=6).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[0.7, -1.57, 1.57, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=7).to_msg(),
+            ),
+            JointTrajectoryPoint(
+                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
+                velocities=[0.0] * 6,
+                time_from_start=rclpy.duration.Duration(seconds=8).to_msg(),
+            ),
         ]
 
         msg.points = points
         self.publisher_.publish(msg)
-        self.get_logger().info('Trajectory sequence published successfully.')
+        self.get_logger().info("Trajectory sequence published successfully.")
 
 
 def main(args=None):
@@ -66,10 +121,10 @@ def main(args=None):
     time.sleep(4)
     for _ in range(1):
         node.publish_trajectory_sequence()
-        time.sleep(8)   # Adjust time to sequence length
+        time.sleep(8)  # Adjust time to sequence length
     node.destroy_node()
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
-    main()
\ No newline at end of file
+if __name__ == "__main__":
+    main()
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 915a6429d..4d45868cf 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -36,7 +36,7 @@
  *
  * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
  * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
- * 
+ *
  */
 //----------------------------------------------------------------------
 #ifndef UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
@@ -286,7 +286,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   std::atomic_bool new_moprim_cmd_available_;
   std::atomic_bool new_moprim_stop_available_;
   std::atomic_bool new_moprim_reset_available_;
-  
+
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
   std::atomic<int8_t> current_moprim_execution_status_;
@@ -307,8 +307,10 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void processMoprimMotionCmd(const std::vector<double>& command);
   void processMoprimStopCmd();
   void processMoprimResetCmd();
-  bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
-  bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration, double& move_time);
+  bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
+                                double& move_time);
+  bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
+                          double& move_time);
   void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
 
   const std::string HW_IF_MOTION_PRIMITIVES = "motion_primitive";
@@ -347,7 +349,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   bool velocity_controller_running_;
   bool force_mode_controller_running_ = false;
 
-  std::shared_ptr<urcl::UrDriver> ur_driver_;   // cahnged to shared_ptr for instruction_executer
+  std::shared_ptr<urcl::UrDriver> ur_driver_;  // changed to shared_ptr for instruction_executer
   std::shared_ptr<std::thread> async_thread_;
 
   std::atomic_bool rtde_comm_has_been_started_ = false;
@@ -360,4 +362,4 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 };
 }  // namespace ur_robot_driver
 
-#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
\ No newline at end of file
+#endif  // UR_ROBOT_DRIVER__HARDWARE_INTERFACE_HPP_
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 0fc033ec0..4163867f5 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -500,4 +500,4 @@ def generate_launch_description():
             ],
         )
     )
-    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
\ No newline at end of file
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
diff --git a/ur_robot_driver/launch/ur_rsp.launch.py b/ur_robot_driver/launch/ur_rsp.launch.py
index 55b07a383..5e47d6acf 100644
--- a/ur_robot_driver/launch/ur_rsp.launch.py
+++ b/ur_robot_driver/launch/ur_rsp.launch.py
@@ -475,4 +475,4 @@ def generate_launch_description():
                 parameters=[robot_description],
             ),
         ]
-    )
\ No newline at end of file
+    )
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 1e0e28def..808e260a7 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -36,7 +36,7 @@
  *
  * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
  * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
- * 
+ *
  */
 //----------------------------------------------------------------------
 #include <algorithm>
@@ -110,7 +110,8 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   motion_primitives_forward_controller_running_ = false;
   // 2 States: execution_status, ready_for_new_primitive
   hw_moprim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
-  // 25 Commands: // motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration + move_time
+  // 25 Commands: // motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration +
+  // move_time
   hw_moprim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());
 
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
@@ -287,7 +288,6 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
   state_interfaces.emplace_back(
       hardware_interface::StateInterface(HW_IF_MOTION_PRIMITIVES, "ready_for_new_primitive", &hw_moprim_states_[1]));
 
-
   return state_interfaces;
 }
 
@@ -674,7 +674,9 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "System successfully started!");
 
   ur_driver_->registerTrajectoryDoneCallback(
-      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1)); //conflict with instruction_executor_ --> callback function needs to get changed when using instruction executor
+      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this,
+                std::placeholders::_1));  // conflict with instruction_executor_ --> callback function needs to get
+                                          // changed when using instruction executor
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -1314,7 +1316,8 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO ||
+                 item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start position control while there is either trajectory passthrough or "
                                "velocity mode or motion primitives moder or force_mode or freedrive mode running.");
@@ -1331,14 +1334,15 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                    }) ||
        std::any_of(control_modes[0].begin(), control_modes[0].end(), [this](auto& item) {
          return (item == hardware_interface::HW_IF_VELOCITY || item == hardware_interface::HW_IF_POSITION ||
-                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO || item == HW_IF_MOTION_PRIMITIVES);
+                 item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO ||
+                 item == HW_IF_MOTION_PRIMITIVES);
        }))) {
     RCLCPP_ERROR(get_logger(), "Attempting to start velocity control while there is either trajectory passthrough or "
                                "position mode or motion primitives mode or force_mode or freedrive mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
 
-    // Motion primitives mode requested to start
+  // Motion primitives mode requested to start
   if (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
                   [this](auto& item) { return (item == HW_IF_MOTION_PRIMITIVES); }) &&
       (std::any_of(start_modes_[0].begin(), start_modes_[0].end(),
@@ -1351,7 +1355,8 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
                  item == PASSTHROUGH_GPIO || item == FORCE_MODE_GPIO || item == FREEDRIVE_MODE_GPIO ||
                  item == HW_IF_MOTION_PRIMITIVES);
        }))) {
-    RCLCPP_ERROR(get_logger(), "Attempting to start motion primitives control while there is either trajectory passthrough or "
+    RCLCPP_ERROR(get_logger(), "Attempting to start motion primitives control while there is either trajectory "
+                               "passthrough or "
                                "position mode or velocity mode or force_mode or freedrive mode running.");
     ret_val = hardware_interface::return_type::ERROR;
   }
@@ -1395,10 +1400,10 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     resetMoprimCmdInterfaces();
     current_moprim_execution_status_ = ExecutionState::IDLE;
     ready_for_new_moprim_ = false;
-    
+
     // use the callback from the hardware_interface implementation (not the one of the instruction_executor_)
     ur_driver_->registerTrajectoryDoneCallback(
-      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
+        std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
 
     RCLCPP_INFO(get_logger(), "Motion primitives mode stopped.");
   }
@@ -1420,7 +1425,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     velocity_controller_running_ = true;
   } else if (start_modes_[0].size() != 0 &&
              std::find(start_modes_[0].begin(), start_modes_[0].end(), FORCE_MODE_GPIO) != start_modes_[0].end()) {
-              motion_primitives_forward_controller_running_ = false;
+    motion_primitives_forward_controller_running_ = false;
     force_mode_controller_running_ = true;
   } else if (start_modes_[0].size() != 0 &&
              std::find(start_modes_[0].begin(), start_modes_[0].end(), PASSTHROUGH_GPIO) != start_modes_[0].end()) {
@@ -1436,14 +1441,14 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     motion_primitives_forward_controller_running_ = false;
     freedrive_mode_controller_running_ = true;
     freedrive_activated_ = false;
-  } else if (start_modes_[0].size() != 0 && 
-             std::find(start_modes_[0].begin(), start_modes_[0].end(), HW_IF_MOTION_PRIMITIVES) != start_modes_[0].end()) {
+  } else if (start_modes_[0].size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
+                                                      HW_IF_MOTION_PRIMITIVES) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     position_controller_running_ = false;
     freedrive_mode_controller_running_ = false;
     passthrough_trajectory_controller_running_ = false;
     force_mode_controller_running_ = false;
-    
+
     // use the callback from the instruction_executor_ (not the one of the hardware_interface implementation)
     instruction_executor_->registerTrajDoneCallback();
     resetMoprimCmdInterfaces();
@@ -1580,7 +1585,6 @@ bool URPositionHardwareInterface::has_accelerations(std::vector<std::array<doubl
   return (accelerations.size() > 0);
 }
 
-
 void URPositionHardwareInterface::handleMoprimCommands()
 {
   // Check if we have a new command
@@ -1592,12 +1596,12 @@ void URPositionHardwareInterface::handleMoprimCommands()
         new_moprim_stop_available_ = true;
         resetMoprimCmdInterfaces();
       }
-    }else if (hw_moprim_commands_[0] == MotionType::RESET_STOP) {
-        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-        if (!new_moprim_reset_available_) {
-          new_moprim_reset_available_ = true;
-          resetMoprimCmdInterfaces();
-        }
+    } else if (hw_moprim_commands_[0] == MotionType::RESET_STOP) {
+      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+      if (!new_moprim_reset_available_) {
+        new_moprim_reset_available_ = true;
+        resetMoprimCmdInterfaces();
+      }
     } else {
       std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
       if (!new_moprim_cmd_available_) {
@@ -1658,7 +1662,7 @@ void URPositionHardwareInterface::processMoprimStopCmd()
   } else {
     RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "No motion to stop");
     current_moprim_execution_status_ = ExecutionState::STOPPED;
-    ready_for_new_moprim_ = false; 
+    ready_for_new_moprim_ = false;
   }
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
               " [processMoprimStopCmd] After executing stop: current_moprim_execution_status_ = %d",
@@ -1708,8 +1712,9 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
     switch (static_cast<uint8_t>(motion_type)) {
       case MotionType::MOTION_SEQUENCE_START:
       {
-        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all following "
-                                                                    "commands to the motion sequence.");
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all "
+                                                                       "following "
+                                                                       "commands to the motion sequence.");
         build_moprim_sequence_ = true;  // set flag to put all following commands into the motion sequence
         moprim_sequence_.clear();
         ready_for_new_moprim_ = true;  // set to true to allow sending new commands
@@ -1741,7 +1746,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         for (int i = 1; i <= 6; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: joint positions "
-                                                                         "contain NaN values");
+                                                                            "contain NaN values");
             current_moprim_execution_status_ = ExecutionState::ERROR;
             return;
           }
@@ -1751,7 +1756,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         // Get move_time OR (velocity AND acceleration)
         if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
-                                                                       "values");
+                                                                          "values");
           current_moprim_execution_status_ = ExecutionState::ERROR;
           return;
         }
@@ -1794,7 +1799,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         for (int i = 7; i <= 13; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
-                                                                         "values");
+                                                                            "values");
             current_moprim_execution_status_ = ExecutionState::ERROR;
             return;
           }
@@ -1806,7 +1811,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         // Get move_time OR (velocity AND acceleration)
         if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
-                                                                       "values");
+                                                                          "values");
           current_moprim_execution_status_ = ExecutionState::ERROR;
           return;
         }
@@ -1849,7 +1854,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         for (int i = 7; i <= 20; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
-                                                                         "values");
+                                                                            "values");
             current_moprim_execution_status_ = ExecutionState::ERROR;
             return;
           }
@@ -1926,7 +1931,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
 // Convert quaternion to Euler angles (roll, pitch, yaw)
 // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
 void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry,
-                                                 double& rz)
+                                                    double& rz)
 {
   // roll (x-axis rotation)
   double sinr_cosp = 2 * (qw * qx + qy * qz);
@@ -1948,9 +1953,8 @@ void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double
   //       qx, qy, qz, qw, rx, ry, rz);
 }
 
-bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command,
-                                                                    double& velocity, double& acceleration,
-                                                                    double& move_time)
+bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,
+                                                           double& acceleration, double& move_time)
 {
   // Check if move_time is valid
   if (!std::isnan(command[24]) && command[24] > 0.0) {
@@ -1967,13 +1971,13 @@ bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<dou
     return true;
   } else {
     RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "move_time, velocity and acceleration are all "
-                                                                 "invalid");
+                                                                    "invalid");
     return false;
   }
 }
 
 bool URPositionHardwareInterface::getMoprimVelAndAcc(const std::vector<double>& command, double& velocity,
-                                                          double& acceleration, double& move_time)
+                                                     double& acceleration, double& move_time)
 {
   // Check if velocity and acceleration are valid
   if (!std::isnan(command[22]) && command[22] > 0.0 && !std::isnan(command[23]) && command[23] > 0.0) {
@@ -1991,4 +1995,4 @@ bool URPositionHardwareInterface::getMoprimVelAndAcc(const std::vector<double>&
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
\ No newline at end of file
+PLUGINLIB_EXPORT_CLASS(ur_robot_driver::URPositionHardwareInterface, hardware_interface::SystemInterface)
diff --git a/ur_robot_driver/urdf/ur.urdf.xacro b/ur_robot_driver/urdf/ur.urdf.xacro
index 6c8e3c817..c9f6a55ca 100644
--- a/ur_robot_driver/urdf/ur.urdf.xacro
+++ b/ur_robot_driver/urdf/ur.urdf.xacro
@@ -103,4 +103,4 @@
     trajectory_port="$(arg trajectory_port)"
   />
 
-</robot>
\ No newline at end of file
+</robot>

From b410003e23f6db46b533a3d1335e0e2a1cbc1643 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 2 Jun 2025 16:40:26 +0200
Subject: [PATCH 53/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md     |  38 ++++++++----------
 ...s2_control_motion_primitives_ur.drawio.png | Bin 409859 -> 373711 bytes
 2 files changed, 17 insertions(+), 21 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 176ded542..76e4c4455 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -1,8 +1,6 @@
-motion_primitives_ur_driver
+hardware_interface in motion primitives mode
 ==========================================
 
-# TODO(mathias31415): Readme anpassen --> motion_primitive_ur_driver wurde in hardware_interface integriert
-
 Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN/ LIN/ MOVEL), circular (CIRCULAR_CARTESIAN/ CIRC/ MOVEC), and joint-based (LINEAR_JOINT/ PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
@@ -12,7 +10,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 # Related packages/ repos
 - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
-- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
+- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)
 
@@ -23,7 +21,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 # Command and State Interfaces
 
-The `motion_primitives_ur_driver` hardware interface defines a set of **command interfaces** and **state interfaces** used for communication between the controller and the robot hardware.
+In motion primitives mode, the following state and command interfaces are used to enable communication between the controller and the hardware interface.
 
 ## Command Interfaces
 
@@ -42,7 +40,7 @@ These interfaces are used to send motion primitive data to the hardware interfac
 
 ## State Interfaces
 
-These interfaces are used to communicate the internal status of the hardware interface back to the controller:
+These interfaces are used to communicate the internal status of the hardware interface back to the [`motion_primitives_forward_controller`](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller):
 
 - `execution_status`: Indicates the current execution state of the primitive. Possible values are:
   - `IDLE`: No motion in progress
@@ -80,7 +78,7 @@ This approach offers two key advantages:
 
 ## write() Method
 
-The `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:
+In motion primitives mode, the `write()` method checks whether a new motion primitive command has been received from the controller via the command interfaces. If a new command is present:
 
 1. If the command is `STOP_MOTION`, a flag is set which leads to interrupting the current motion inside the `asyncStopMotionThread()`. If the command is `RESET_STOP`, the flag is reset, and new motion primitives can be received and executed.
 2. For other commands, they are passed to the `asyncCommandThread()` and executed asynchronously. Individual primitives are executed directly via the Instruction Executor.
@@ -94,15 +92,7 @@ The `read()` method:
 
 - Publishes the `execution_status` over a state interface with possible values: `IDLE`, `EXECUTING`, `SUCCESS`, `ERROR`, `STOPPED`.
 - Publishes `ready_for_new_primitive` over a state interface to signal whether the interface is ready to receive a new primitive.
-- Handles additional state interfaces adopted from the UR driver, such as joint states, enabling RViz to visualize the current robot pose.
-
-## UR Driver Conflict
-
-The standard UR hardware interface cannot run in parallel with this motion primitives interface due to connection conflicts. To resolve this:
-
-- The state interface functionality from the UR hardware interface was refactored into a helper header: `ur_state_helper.hpp`.
-- This helper enables code reuse between the standard hardware interface and the `motion_primitives_ur_driver`, ensuring robot state data is still available.
-
+- Handles additional state interfaces from the UR driver, such as joint states, enabling RViz to visualize the current robot pose.
 
 
 # Example usage notes with UR10e
@@ -127,7 +117,7 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.16
 ```
 ros2 control switch_controllers --activate motion_primitive_controller --deactivate scaled_joint_trajectory_controller
 ```
-## Publish dummy commands
+## Publish motion primitives
 > [!WARNING]
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
@@ -144,7 +134,15 @@ ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_in
 
 # TODO's
 - if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
-- for the motion primitive driver `ur_joint_control.xacro` without command interfaces is needed: `motion_primitive_ur_joint_control.xacro` --> is there a better way than a copy of the file with commented command interfaces?
+- The default `hardware_interface` implementation and the `InstructionExecutor` used to execute motion primitives both rely on a callback function that is triggered when a trajectory is completed. In the current implementation, the callback function of the `ur_driver` is overwritten, meaning that only one of the callback functions can be active at a time. This issue has been addressed by registering the `InstructionExecutor`'s callback when motion primitives mode is activated, and restoring the `hardware_interface`'s callback when the mode is deactivated. To enable this, a method `registerTrajDoneCallback()` was added to the `InstructionExecutor` in the `ur_client_library`:
+```cpp
+  void urcl::InstructionExecutor::registerTrajDoneCallback()
+  {
+    driver_->registerTrajectoryDoneCallback(
+        std::bind(&InstructionExecutor::trajDoneCallback, this, std::placeholders::_1));
+  }
+```
+--> Is there a better solution for this?
 
 # Useful sources
 - https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture/instruction_executor.html
@@ -153,8 +151,6 @@ ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_in
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
 - ...
 
-
-
 # With MoveIt and Pilz-Planner
 **Mock Hardware**
 ```
@@ -173,7 +169,7 @@ https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_rob
 ```
 ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
 ```
-
+**Publishing joint positions for `scaled_joint_trajectory_controller`**
 ```
 ros2 run ur_robot_driver send_joint_positions.py
 ```
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png b/ur_robot_driver/doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png
index c8bc799c0dece8be44244997d78436d15d06cd3e..0c7962c054e8fda73872bc2fecebcb9c6096c0c1 100644
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From 9cbab0f22e3c639a20d6f68205ac1c26cbc3cb18 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Thu, 5 Jun 2025 17:17:42 +0200
Subject: [PATCH 54/99] modified python script for action based moprim
 controller instead of reference topic

---
 ur_robot_driver/CMakeLists.txt                |   1 -
 ur_robot_driver/README_MotionPrimitive.md     |  15 +-
 .../send_dummy_motion_primitives_hka_ur10e.py | 302 +++++++++++++-----
 .../send_dummy_motion_primitives_ur5e.py      | 173 ----------
 ur_robot_driver/src/hardware_interface.cpp    |  10 +-
 5 files changed, 227 insertions(+), 274 deletions(-)
 delete mode 100755 ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index d22fc15d8..490247c10 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -162,7 +162,6 @@ install(PROGRAMS
   scripts/start_ursim.sh
   examples/examples.py
   examples/force_mode.py
-  examples/send_dummy_motion_primitives_ur5e.py
   examples/send_dummy_motion_primitives_hka_ur10e.py
   examples/send_joint_positions.py
   DESTINATION lib/${PROJECT_NAME}
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 76e4c4455..1d8ce4e30 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -9,9 +9,9 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 [![Play Video](doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png)](https://www.youtube.com/watch?v=htUJtfkgr6Q)
 
 # Related packages/ repos
-- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types)
+- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types)
 - [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
-- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
+- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)
 
 
@@ -113,7 +113,7 @@ With H-KA UR10e:
 ```
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_controller
 ```
-## Switching control mode
+## (optional) switching control mode
 ```
 ros2 control switch_controllers --activate motion_primitive_controller --deactivate scaled_joint_trajectory_controller
 ```
@@ -123,14 +123,7 @@ ros2 control switch_controllers --activate motion_primitive_controller --deactiv
 ```
 ros2 run ur_robot_driver send_dummy_motion_primitives_hka_ur10e.py
 ```
-## Publish stop motion command
-```
-ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 66, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
-```
-## Reset stop motion command
-```
-ros2 topic pub /motion_primitive_controller/reference industrial_robot_motion_interfaces/msg/MotionPrimitive "{type: 67, blend_radius: 0.0, additional_arguments: [], poses: [], joint_positions: []}" --once
-```
+During the execution of the motion primitives, the movement can be stopped by pressing the Enter key in the terminal.
 
 # TODO's
 - if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index e44b8190a..ddef4418b 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -18,29 +18,35 @@
 
 import rclpy
 from rclpy.node import Node
+from rclpy.action import ActionClient
 from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
+from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument, MotionSequence
+from industrial_robot_motion_interfaces.action import ExecuteMotion
+from action_msgs.srv import CancelGoal
+import threading
+import sys
 
 joint_velocity = 1.0
 joint_acceleration = 1.0
 cart_velocity = 0.5
 cart_acceleration = 0.5
+move_time = 0.0  # if move_time=0 vel and acc are used, otherwise move_time is used
 
 # Joint movement to home position
-msg_moveJ_1 = MotionPrimitive()
-msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
-msg_moveJ_1.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
-msg_moveJ_1.blend_radius = 0.1
-msg_moveJ_1.additional_arguments = [
+moveJ_1 = MotionPrimitive()
+moveJ_1.type = MotionPrimitive.LINEAR_JOINT
+moveJ_1.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_1.blend_radius = 0.1
+moveJ_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=joint_velocity),
     MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
-]  # MotionArgument(argument_name="move_time", argument_value=0.0),
-
+    MotionArgument(argument_name="move_time", argument_value=move_time),
+]
 # Linear movement down
-msg_moveL_1 = MotionPrimitive()
-msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_1.blend_radius = 0.05
-msg_moveL_1.additional_arguments = [
+moveL_1 = MotionPrimitive()
+moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
+moveL_1.blend_radius = 0.05
+moveL_1.additional_arguments = [
     MotionArgument(argument_name="velocity", argument_value=cart_velocity),
     MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
 ]
@@ -52,16 +58,13 @@
 pose_L1.pose.orientation.y = 0.0
 pose_L1.pose.orientation.z = 0.0
 pose_L1.pose.orientation.w = 0.0
-msg_moveL_1.poses = [pose_L1]
+moveL_1.poses = [pose_L1]
 
 # Linear movement up
-msg_moveL_2 = MotionPrimitive()
-msg_moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_2.blend_radius = 0.05
-msg_moveL_2.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
-]
+moveL_2 = MotionPrimitive()
+moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
+moveL_2.blend_radius = 0.05
+moveL_2.additional_arguments = moveL_1.additional_arguments.copy()
 pose_L2 = PoseStamped()
 pose_L2.pose.position.x = 0.174
 pose_L2.pose.position.y = -0.692
@@ -70,26 +73,20 @@
 pose_L2.pose.orientation.y = 0.0
 pose_L2.pose.orientation.z = 0.0
 pose_L2.pose.orientation.w = 0.0
-msg_moveL_2.poses = [pose_L2]
+moveL_2.poses = [pose_L2]
 
 # Joint movement
-msg_moveJ_2 = MotionPrimitive()
-msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
-msg_moveJ_2.blend_radius = 0.1
-msg_moveJ_2.joint_positions = [0.9, -1.57, 1.57, -1.57, -1.57, -1.57]  # xyz = 0.294, 0.650, 0.677
-msg_moveJ_2.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=joint_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
-]
+moveJ_2 = MotionPrimitive()
+moveJ_2.type = MotionPrimitive.LINEAR_JOINT
+moveJ_2.blend_radius = 0.1
+moveJ_2.joint_positions = [0.9, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_2.additional_arguments = moveJ_1.additional_arguments.copy()
 
 # Circular movement
-msg_moveC_1 = MotionPrimitive()
-msg_moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
-msg_moveC_1.blend_radius = 0.0
-msg_moveC_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
-]
+moveC_1 = MotionPrimitive()
+moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
+moveC_1.blend_radius = 0.0
+moveC_1.additional_arguments = moveL_1.additional_arguments.copy()
 pose_C1_via = PoseStamped()
 pose_C1_via.pose.position.x = 0.174
 pose_C1_via.pose.position.y = -0.9
@@ -106,69 +103,210 @@
 pose_C1_goal.pose.orientation.y = 0.0
 pose_C1_goal.pose.orientation.z = 0.0
 pose_C1_goal.pose.orientation.w = 0.0
-msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
+moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
 
-msg_start_sequence = MotionPrimitive()
-msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
+# Motions to compare moprim and jtc mode (send_joint_positions.py for jtc mode)
+eval_blend_radius = 0.1
+eval_move_time = 1.0
 
-msg_end_sequence = MotionPrimitive()
-msg_end_sequence.type = MotionPrimitive.MOTION_SEQUENCE_END
-
-
-msg_moveL_3 = MotionPrimitive()
-msg_moveL_3.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_3.blend_radius = 0.05
-msg_moveL_3.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+moveJ_eval_0 = MotionPrimitive()
+moveJ_eval_0.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_0.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_eval_0.blend_radius = eval_blend_radius
+moveJ_eval_0.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_1 = MotionPrimitive()
+moveJ_eval_1.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_1.joint_positions = [1.57, -1.1, 1.0, -1.57, -1.57, -1.57]
+moveJ_eval_1.blend_radius = eval_blend_radius
+moveJ_eval_1.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_2 = MotionPrimitive()
+moveJ_eval_2.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_2.joint_positions = [2.0, -0.9, 0.7, -1.57, -1.57, -1.57]
+moveJ_eval_2.blend_radius = eval_blend_radius
+moveJ_eval_2.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_3 = MotionPrimitive()
+moveJ_eval_3.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_3.joint_positions = [2.4, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_eval_3.blend_radius = eval_blend_radius
+moveJ_eval_3.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_4 = MotionPrimitive()
+moveJ_eval_4.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_4.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_eval_4.blend_radius = eval_blend_radius
+moveJ_eval_4.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_5 = MotionPrimitive()
+moveJ_eval_5.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_5.joint_positions = [1.57, -1.1, 1.0, -1.57, -1.57, -1.57]
+moveJ_eval_5.blend_radius = eval_blend_radius
+moveJ_eval_5.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_6 = MotionPrimitive()
+moveJ_eval_6.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_6.joint_positions = [1.1, -0.9, 0.7, -1.57, -1.57, -1.57]
+moveJ_eval_6.blend_radius = eval_blend_radius
+moveJ_eval_6.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_7 = MotionPrimitive()
+moveJ_eval_7.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_7.joint_positions = [0.7, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_eval_7.blend_radius = eval_blend_radius
+moveJ_eval_7.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+]
+moveJ_eval_8 = MotionPrimitive()
+moveJ_eval_8.type = MotionPrimitive.LINEAR_JOINT
+moveJ_eval_8.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
+moveJ_eval_8.blend_radius = eval_blend_radius
+moveJ_eval_8.additional_arguments = [
+    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
 ]
-msg_moveL_3.poses = [pose_C1_goal]
 
 
-class MotionPublisher(Node):
+class ExecuteMotionClient(Node):
     def __init__(self):
-        super().__init__("motion_publisher")
+        super().__init__("motion_sequence_client")
+
+        # Initialize action client for ExecuteMotion action
+        self._client = ActionClient(
+            self, ExecuteMotion, "/motion_primitive_controller/motion_sequence"
+        )
 
-        self.publisher_ = self.create_publisher(
-            MotionPrimitive, "/motion_primitive_controller/reference", 10
+        # Initialize client for cancel_goal service
+        self._cancel_client = self.create_client(
+            CancelGoal, "/motion_primitive_controller/motion_sequence/_action/cancel_goal"
         )
 
-        # self.messages = [msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1]
-        # self.messages = [msg_start_sequence, msg_moveJ_1, msg_moveL_1, msg_moveL_2, msg_moveJ_2, msg_moveC_1, msg_end_sequence]
-        self.messages = [
-            msg_moveJ_1,
-            msg_moveL_1,
-            msg_moveL_2,
-            msg_moveJ_2,
-            msg_moveC_1,
-            msg_start_sequence,
-            msg_moveJ_1,
-            msg_moveL_1,
-            msg_moveL_2,
-            msg_moveJ_2,
-            msg_moveC_1,
-            msg_end_sequence,
+        self._goal_id = None  # To store the goal ID for cancellation
+
+        # Send the motion goal
+        self._send_goal()
+
+        # Start a thread to listen for ENTER key press to cancel the goal
+        thread = threading.Thread(target=self._wait_for_keypress, daemon=True)
+        thread.start()
+
+    def _send_goal(self):
+        """Send the motion sequence goal to the action server."""
+        self.get_logger().info("Waiting for action server...")
+        self._client.wait_for_server()
+
+        goal_msg = ExecuteMotion.Goal()
+        goal_msg.trajectory = MotionSequence()
+
+        # "pick" sequence with moveC in the end
+        # goal_msg.trajectory.motions = [moveJ_1, moveL_1, moveL_2, moveJ_2, moveC_1]
+
+        # evaluation sequence with moveJ movements
+        goal_msg.trajectory.motions = [
+            moveJ_eval_0,
+            moveJ_eval_1,
+            moveJ_eval_2,
+            moveJ_eval_3,
+            moveJ_eval_4,
+            moveJ_eval_5,
+            moveJ_eval_6,
+            moveJ_eval_7,
+            moveJ_eval_8,
         ]
 
-        self.get_logger().info(f"Number of messages: {len(self.messages)}")
+        self.get_logger().info(
+            f"Sending {len(goal_msg.trajectory.motions)} motion primitives as a sequence..."
+        )
+        send_goal_future = self._client.send_goal_async(
+            goal_msg, feedback_callback=self.feedback_callback
+        )
+        send_goal_future.add_done_callback(self.goal_response_callback)
 
-        self.send_all_messages()
+    def goal_response_callback(self, future):
+        """Callback called when the action server accepts or rejects the goal."""
+        goal_handle = future.result()
+        if not goal_handle.accepted:
+            self.get_logger().error("Goal rejected")
+            return
 
-    def send_all_messages(self):
-        for i, msg in enumerate(self.messages):
-            self.get_logger().info(f"Sending message {i + 1} of {len(self.messages)}")
-            self.publisher_.publish(msg)
-            self.get_logger().info(f"Sent message {i + 1}: {msg}")
+        self.get_logger().info("Goal accepted")
+        self._goal_id = goal_handle.goal_id  # Store goal ID for cancellation
+
+        # Wait for result asynchronously
+        get_result_future = goal_handle.get_result_async()
+        get_result_future.add_done_callback(self.result_callback)
+
+    def feedback_callback(self, feedback_msg):
+        """Receive feedback about the current motion primitive being executed."""
+        current_index = feedback_msg.feedback.current_primitive_index
+        self.get_logger().info(f"Executing primitive index: {current_index}")
+
+    def result_callback(self, future):
+        """Handle the result from the action server after goal finishes or is canceled."""
+        result = future.result().result
+        if result.error_code == ExecuteMotion.Result.SUCCESSFUL:
+            self.get_logger().info("Motion sequence executed successfully!")
+        elif result.error_code == ExecuteMotion.Result.CANCELED:
+            self.get_logger().info("Motion sequence was canceled.")
+        elif result.error_code == ExecuteMotion.Result.FAILED:
+            self.get_logger().error("Motion sequence execution failed.")
+        else:
+            self.get_logger().error(
+                f"Execution failed: {result.error_code} - {result.error_string}"
+            )
+        rclpy.shutdown()
+
+    def _wait_for_keypress(self):
+        """Wait for the user to press ENTER key to cancel the motion sequence."""
+        print("Press ENTER to cancel the motion sequence...")
+        while True:
+            input_str = sys.stdin.readline().strip()
+            if input_str == "":
+                self.get_logger().info("ENTER key pressed: sending cancel request.")
+                self.cancel_goal()
+                break
+
+    def cancel_goal(self):
+        """Send a cancel request for the currently running goal."""
+        if self._goal_id is None:
+            self.get_logger().warn("No goal to cancel (goal_id not set yet).")
+            return
+
+        if not self._cancel_client.wait_for_service(timeout_sec=2.0):
+            self.get_logger().error("Cancel service is not available.")
+            return
+
+        request = CancelGoal.Request()
+        request.goal_info.goal_id = self._goal_id
+
+        future = self._cancel_client.call_async(request)
+        future.add_done_callback(self.cancel_response_callback)
+
+    def cancel_response_callback(self, future):
+        """Handle the response from the cancel service call."""
+        try:
+            response = future.result()
+            if response.return_code == 0:
+                self.get_logger().info("Cancel request accepted.")
+            elif response.return_code == 1:
+                self.get_logger().warn("Cancel request rejected.")
+            else:
+                self.get_logger().warn(f"Cancel returned code: {response.return_code}")
+        except Exception as e:
+            self.get_logger().error(f"Failed to call cancel service: {e}")
 
 
 def main(args=None):
     rclpy.init(args=args)
-    node = MotionPublisher()
-    rclpy.spin_once(node, timeout_sec=1)
-
-    # Cleanup
-    node.destroy_node()
-    rclpy.shutdown()
+    node = ExecuteMotionClient()
+    rclpy.spin(node)
 
 
 if __name__ == "__main__":
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py
deleted file mode 100755
index 3f995131a..000000000
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_ur5e.py
+++ /dev/null
@@ -1,173 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2025, b»robotized
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-# Authors: Mathias Fuhrer
-
-import rclpy
-from rclpy.node import Node
-from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument
-
-# Motion primitives from: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html#instruction-executor-example
-msg_moveJ_1 = MotionPrimitive()
-msg_moveJ_1.type = MotionPrimitive.LINEAR_JOINT
-msg_moveJ_1.joint_positions = [-1.57, -1.57, 0, 0, 0, 0]
-msg_moveJ_1.blend_radius = 0.1
-msg_moveJ_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=1.0),
-]
-
-msg_moveJ_2 = MotionPrimitive()
-msg_moveJ_2.type = MotionPrimitive.LINEAR_JOINT
-msg_moveJ_2.blend_radius = 0.1
-msg_moveJ_2.joint_positions = [-1.57, -1.6, 1.6, -0.7, 0.7, 0.2]
-msg_moveJ_2.additional_arguments = [MotionArgument(argument_name="move_time", argument_value=2.0)]
-
-msg_moveL_1 = MotionPrimitive()
-msg_moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_1.blend_radius = 0.05
-msg_moveL_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=2.0),
-    MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=0.0),
-]
-pose_L1 = PoseStamped()
-pose_L1.pose.position.x = -0.203
-pose_L1.pose.position.y = 0.263
-pose_L1.pose.position.z = 0.559
-pose_L1.pose.orientation.x = -0.2734
-pose_L1.pose.orientation.y = -0.4930
-pose_L1.pose.orientation.z = -0.6086
-pose_L1.pose.orientation.w = 0.5584
-msg_moveL_1.poses = [pose_L1]
-
-msg_moveL_2 = MotionPrimitive()
-msg_moveL_2.type = MotionPrimitive.LINEAR_CARTESIAN
-msg_moveL_2.blend_radius = 0.05
-msg_moveL_2.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=1.0),
-    MotionArgument(argument_name="acceleration", argument_value=0.5),
-    MotionArgument(argument_name="move_time", argument_value=2.0),
-]
-pose_L2 = PoseStamped()
-pose_L2.pose.position.x = -0.203
-pose_L2.pose.position.y = 0.463
-pose_L2.pose.position.z = 0.559
-pose_L2.pose.orientation.x = -0.2734
-pose_L2.pose.orientation.y = -0.4930
-pose_L2.pose.orientation.z = -0.6086
-pose_L2.pose.orientation.w = 0.5584
-msg_moveL_2.poses = [pose_L2]
-
-msg_moveC_1 = MotionPrimitive()
-msg_moveC_1.type = MotionPrimitive.CIRCULAR_CARTESIAN
-msg_moveC_1.blend_radius = 0.0
-msg_moveC_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=0.5),
-    MotionArgument(argument_name="acceleration", argument_value=0.1),
-]
-# urcl::Pose(-0.150, 0.350, 0.550, 0.68, -1.0, -2.0),  // via_pose
-# urcl::Pose(-0.100, 0.400, 0.550, 0.68, -1.0, -2.0),  // target_pose
-pose_C1_via = PoseStamped()
-pose_C1_via.pose.position.x = -0.150
-pose_C1_via.pose.position.y = 0.350
-pose_C1_via.pose.position.z = 0.550
-pose_C1_via.pose.orientation.x = -0.2222
-pose_C1_via.pose.orientation.y = -0.4905
-pose_C1_via.pose.orientation.z = -0.6098
-pose_C1_via.pose.orientation.w = 0.58155
-pose_C1_goal = PoseStamped()
-pose_C1_goal.pose.position.x = -0.100
-pose_C1_goal.pose.position.y = 0.400
-pose_C1_goal.pose.position.z = 0.550
-pose_C1_goal.pose.orientation.x = -0.2222
-pose_C1_goal.pose.orientation.y = -0.490
-pose_C1_goal.pose.orientation.z = -0.608
-pose_C1_goal.pose.orientation.w = 0.58155
-msg_moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
-
-msg_start_sequence = MotionPrimitive()
-msg_start_sequence.type = MotionPrimitive.MOTION_SEQUENCE_START
-
-msg_end_sequence = MotionPrimitive()
-msg_end_sequence.type = MotionPrimitive.MOTION_SEQUENCE_END
-
-
-class MotionPublisher(Node):
-    def __init__(self):
-        super().__init__("motion_publisher")
-
-        self.publisher_ = self.create_publisher(
-            MotionPrimitive, "/motion_primitive_controller/reference", 10
-        )
-
-        # self.messages = [
-        #     msg_moveJ_1,
-        #     msg_moveJ_2,
-        #     msg_moveL_1,
-        #     msg_moveL_2,
-        #     msg_moveC_1,
-        #     msg_start_sequence,
-        #     msg_moveJ_1,
-        #     msg_moveJ_2,
-        #     msg_moveL_1,
-        #     msg_moveL_2,
-        #     msg_moveC_1,
-        #     msg_end_sequence,
-        #     msg_start_sequence,
-        #     msg_moveJ_1,
-        #     msg_moveJ_2,
-        #     msg_end_sequence,
-        #     msg_moveJ_1,
-        #     msg_moveJ_2,
-        # ]
-
-        # self.messages = [msg_moveJ_1, msg_moveJ_2, msg_moveL_1, msg_moveL_2, msg_moveC_1]
-
-        self.messages = [
-            msg_start_sequence,
-            msg_moveJ_1,
-            msg_moveJ_2,
-            msg_moveL_1,
-            msg_moveL_2,
-            msg_moveC_1,
-            msg_end_sequence,
-        ]
-
-        self.get_logger().info(f"Number of messages: {len(self.messages)}")
-
-        self.send_all_messages()
-
-    def send_all_messages(self):
-        for i, msg in enumerate(self.messages):
-            self.get_logger().info(f"Sending message {i + 1} of {len(self.messages)}")
-            self.publisher_.publish(msg)
-            self.get_logger().info(f"Sent message {i + 1}: {msg}")
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = MotionPublisher()
-    rclpy.spin_once(node, timeout_sec=1)
-
-    # Cleanup
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 808e260a7..cdbcbdf5a 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -600,13 +600,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Initializing driver...");
   registerUrclLogHandler(tf_prefix);
-  // try {
-  //   rtde_comm_has_been_started_ = false;
-  //   ur_driver_ = std::make_unique<urcl::UrDriver>(
-  //       robot_ip, script_filename, output_recipe_filename, input_recipe_filename,
-  //       std::bind(&URPositionHardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
-  //       std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
-  //       servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port);
   try {
     rtde_comm_has_been_started_ = false;
     urcl::UrDriverConfiguration driver_config;
@@ -1590,6 +1583,9 @@ void URPositionHardwareInterface::handleMoprimCommands()
   // Check if we have a new command
   if (!std::isnan(hw_moprim_commands_[0])) {
     ready_for_new_moprim_ = false;  // set to false to indicate that the driver is busy handling a command
+    // set state interface immediately
+    // --> if waiting for next read() cycle it happens sometimes that a command is overwritten
+    hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
     if (hw_moprim_commands_[0] == MotionType::STOP_MOTION) {
       std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
       if (!new_moprim_stop_available_) {

From f98f258ca553d13912e6cb4a20c1e6d544f87068 Mon Sep 17 00:00:00 2001
From: Mathias Fuhrer <148789048+mathias31415@users.noreply.github.com>
Date: Fri, 6 Jun 2025 08:53:00 +0200
Subject: [PATCH 55/99] Update README_MotionPrimitive.md

---
 ur_robot_driver/README_MotionPrimitive.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 1d8ce4e30..91b1f4e10 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -27,7 +27,7 @@ In motion primitives mode, the following state and command interfaces are used t
 
 These interfaces are used to send motion primitive data to the hardware interface:
 
-- `motion_type`: Type of motion primitive (e.g., LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN, etc.)
+- `motion_type`: Type of motion primitive (LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN)
 - `q1` – `q6`: Target joint positions for joint-based motion
 - `pos_x`, `pos_y`, `pos_z`: Target Cartesian position
 - `pos_qx`, `pos_qy`, `pos_qz`, `pos_qw`: Orientation quaternion of the target pose
@@ -125,7 +125,7 @@ ros2 run ur_robot_driver send_dummy_motion_primitives_hka_ur10e.py
 ```
 During the execution of the motion primitives, the movement can be stopped by pressing the Enter key in the terminal.
 
-# TODO's
+# TODOs/ Improvements
 - if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
 - The default `hardware_interface` implementation and the `InstructionExecutor` used to execute motion primitives both rely on a callback function that is triggered when a trajectory is completed. In the current implementation, the callback function of the `ur_driver` is overwritten, meaning that only one of the callback functions can be active at a time. This issue has been addressed by registering the `InstructionExecutor`'s callback when motion primitives mode is activated, and restoring the `hardware_interface`'s callback when the mode is deactivated. To enable this, a method `registerTrajDoneCallback()` was added to the `InstructionExecutor` in the `ur_client_library`:
 ```cpp

From cc715d31082420e80adf29864256e51c0985f825 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 13 Jun 2025 08:39:20 +0200
Subject: [PATCH 56/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 23 -----------------------
 1 file changed, 23 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 91b1f4e10..b645481f1 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -143,26 +143,3 @@ During the execution of the motion primitives, the movement can be stopped by pr
 - https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
 - https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
 - ...
-
-# With MoveIt and Pilz-Planner
-**Mock Hardware**
-```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.20.0.2  use_mock_hardware:=true initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=false
-```
-**Simulation**
-```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=true
-```
-**H-KA UR10e**
-```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 initial_joint_controller:=scaled_joint_trajectory_controller launch_rviz:=false
-```
-**Using MoveIt**
-https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_robot_driver/doc/usage/move.html#start-hardware-simulator-or-mockup
-```
-ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
-```
-**Publishing joint positions for `scaled_joint_trajectory_controller`**
-```
-ros2 run ur_robot_driver send_joint_positions.py
-```

From e59aca69398ebf366f7510ef0cf52dfc91ea537b Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Fri, 13 Jun 2025 08:39:42 +0200
Subject: [PATCH 57/99] changed blend radius to 0 for eval sequence

---
 .../send_dummy_motion_primitives_hka_ur10e.py | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index ddef4418b..8eae90f5a 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -106,7 +106,7 @@
 moveC_1.poses = [pose_C1_goal, pose_C1_via]  # first pose is goal, second is via point
 
 # Motions to compare moprim and jtc mode (send_joint_positions.py for jtc mode)
-eval_blend_radius = 0.1
+eval_blend_radius = 0.0
 eval_move_time = 1.0
 
 moveJ_eval_0 = MotionPrimitive()
@@ -206,20 +206,20 @@ def _send_goal(self):
         goal_msg.trajectory = MotionSequence()
 
         # "pick" sequence with moveC in the end
-        # goal_msg.trajectory.motions = [moveJ_1, moveL_1, moveL_2, moveJ_2, moveC_1]
+        goal_msg.trajectory.motions = [moveJ_1, moveL_1, moveL_2, moveJ_2, moveC_1]
 
         # evaluation sequence with moveJ movements
-        goal_msg.trajectory.motions = [
-            moveJ_eval_0,
-            moveJ_eval_1,
-            moveJ_eval_2,
-            moveJ_eval_3,
-            moveJ_eval_4,
-            moveJ_eval_5,
-            moveJ_eval_6,
-            moveJ_eval_7,
-            moveJ_eval_8,
-        ]
+        # goal_msg.trajectory.motions = [
+        #     moveJ_eval_0,
+        #     moveJ_eval_1,
+        #     moveJ_eval_2,
+        #     moveJ_eval_3,
+        #     moveJ_eval_4,
+        #     moveJ_eval_5,
+        #     moveJ_eval_6,
+        #     moveJ_eval_7,
+        #     moveJ_eval_8,
+        # ]
 
         self.get_logger().info(
             f"Sending {len(goal_msg.trajectory.motions)} motion primitives as a sequence..."

From beda5eb97e32bba144a1d14b62ce788a90e5731f Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 18 Jun 2025 15:05:20 +0200
Subject: [PATCH 58/99] changed quaternionToEuler() function from manual
 calculation to tf2 lib

---
 ur_robot_driver/CMakeLists.txt             |  2 ++
 ur_robot_driver/package.xml                |  1 +
 ur_robot_driver/src/hardware_interface.cpp | 28 +++++++---------------
 3 files changed, 12 insertions(+), 19 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 490247c10..8f5e71d04 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -31,6 +31,7 @@ find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2 REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
@@ -49,6 +50,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   std_msgs
   std_srvs
   tf2_geometry_msgs
+  tf2
   ur_client_library
   ur_dashboard_msgs
   ur_msgs
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 23789b2ea..733847274 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -43,6 +43,7 @@
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>tf2</depend>
   <depend>ur_client_library</depend>
   <depend>ur_controllers</depend>
   <depend>ur_dashboard_msgs</depend>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index cdbcbdf5a..c60dc1c78 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -54,6 +54,9 @@
 #include "ur_robot_driver/hardware_interface.hpp"
 #include "ur_robot_driver/urcl_log_handler.hpp"
 
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Matrix3x3.h>
+
 namespace rtde = urcl::rtde_interface;
 
 namespace ur_robot_driver
@@ -1925,28 +1928,15 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
 }
 
 // Convert quaternion to Euler angles (roll, pitch, yaw)
-// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry,
-                                                    double& rz)
+void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz)
 {
-  // roll (x-axis rotation)
-  double sinr_cosp = 2 * (qw * qx + qy * qz);
-  double cosr_cosp = 1 - 2 * (qx * qx + qy * qy);
-  rx = std::atan2(sinr_cosp, cosr_cosp);
-
-  // pitch (y-axis rotation)
-  double sinp = std::sqrt(1 + 2 * (qw * qy - qx * qz));
-  double cosp = std::sqrt(1 - 2 * (qw * qy - qx * qz));
-  ry = 2 * std::atan2(sinp, cosp) - M_PI / 2;
-
-  // yaw (z-axis rotation)
-  double siny_cosp = 2 * (qw * qz + qx * qy);
-  double cosy_cosp = 1 - 2 * (qy * qy + qz * qz);
-  rz = std::atan2(siny_cosp, cosy_cosp);
+  tf2::Quaternion quat_tf(qx, qy, qz, qw);
+  tf2::Matrix3x3 rot_mat(quat_tf);
+  rot_mat.getRPY(rx, ry, rz);
 
   // RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-  //       "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
-  //       qx, qy, qz, qw, rx, ry, rz);
+  //     "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
+  //     qx, qy, qz, qw, rx, ry, rz);
 }
 
 bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,

From fbc758decce2442b16a2de9ef8f68d03fcb6bdd0 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 18 Jun 2025 16:33:13 +0200
Subject: [PATCH 59/99] changed quaternionToEuler() to quaternionToRotVec()
 because robot need rotation vector and dot euler angles

---
 ur_robot_driver/CMakeLists.txt                |  2 -
 ur_robot_driver/config/ur_controllers.yaml    |  2 +-
 .../ur_robot_driver/hardware_interface.hpp    |  2 +-
 ur_robot_driver/package.xml                   |  1 -
 ur_robot_driver/src/hardware_interface.cpp    | 46 +++++++++++++------
 5 files changed, 33 insertions(+), 20 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 8f5e71d04..490247c10 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -31,7 +31,6 @@ find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-find_package(tf2 REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
@@ -50,7 +49,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   std_msgs
   std_srvs
   tf2_geometry_msgs
-  tf2
   ur_client_library
   ur_dashboard_msgs
   ur_msgs
diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 2d47ee84d..8349d088c 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -209,4 +209,4 @@ motion_primitive_controller:
     state_interfaces:
       - execution_status
       - ready_for_new_primitive
-    queue_size: 20    # queue size to buffer incoming commands
+    queue_size: 50    # queue size to buffer incoming commands
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 4d45868cf..68c4d4387 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -311,7 +311,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
                                 double& move_time);
   bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
                           double& move_time);
-  void quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
+  void quaternionToRotVec(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
 
   const std::string HW_IF_MOTION_PRIMITIVES = "motion_primitive";
   //*************** End Motion primitives stuff ***************
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 733847274..23789b2ea 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -43,7 +43,6 @@
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tf2</depend>
   <depend>ur_client_library</depend>
   <depend>ur_controllers</depend>
   <depend>ur_dashboard_msgs</depend>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index c60dc1c78..794f99ec1 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -44,6 +44,7 @@
 #include <string>
 #include <utility>
 #include <vector>
+#include <cmath>
 
 #include "ur_client_library/exceptions.h"
 #include "ur_client_library/ur/tool_communication.h"
@@ -54,9 +55,6 @@
 #include "ur_robot_driver/hardware_interface.hpp"
 #include "ur_robot_driver/urcl_log_handler.hpp"
 
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Matrix3x3.h>
-
 namespace rtde = urcl::rtde_interface;
 
 namespace ur_robot_driver
@@ -1804,7 +1802,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
           }
         }
         double rx, ry, rz;
-        quaternionToEuler(command[10], command[11], command[12], command[13], rx, ry, rz);
+        quaternionToRotVec(command[10], command[11], command[12], command[13], rx, ry, rz);
         urcl::Pose pose = { command[7], command[8], command[9], rx, ry, rz };
 
         // Get move_time OR (velocity AND acceleration)
@@ -1871,11 +1869,11 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         }
 
         double via_rx, via_ry, via_rz;
-        quaternionToEuler(command[17], command[18], command[19], command[20], via_rx, via_ry, via_rz);
+        quaternionToRotVec(command[17], command[18], command[19], command[20], via_rx, via_ry, via_rz);
         urcl::Pose via_pose = { command[14], command[15], command[16], via_rx, via_ry, via_rz };
 
         double goal_rx, goal_ry, goal_rz;
-        quaternionToEuler(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
+        quaternionToRotVec(command[10], command[11], command[12], command[13], goal_rx, goal_ry, goal_rz);
         urcl::Pose goal_pose = { command[7], command[8], command[9], goal_rx, goal_ry, goal_rz };
 
         // Check if the command is part of a motion sequence or a single command
@@ -1927,16 +1925,34 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
   }
 }
 
-// Convert quaternion to Euler angles (roll, pitch, yaw)
-void URPositionHardwareInterface::quaternionToEuler(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz)
-{
-  tf2::Quaternion quat_tf(qx, qy, qz, qw);
-  tf2::Matrix3x3 rot_mat(quat_tf);
-  rot_mat.getRPY(rx, ry, rz);
+void URPositionHardwareInterface::quaternionToRotVec(double qx, double qy, double qz, double qw,
+                                                     double& rx, double& ry, double& rz) {
+    // Calculating the norm of the quaternion
+    double norm = std::sqrt(qx*qx + qy*qy + qz*qz + qw*qw);
+    if (norm < 1e-8) {
+        // Invalid quaternion → zero rotation
+        rx = ry = rz = 0.0;
+        return;
+    }
 
-  // RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-  //     "Converted quaternion [%f, %f, %f, %f] to Euler angles: [%f, %f, %f]",
-  //     qx, qy, qz, qw, rx, ry, rz);
+    qx /= norm;
+    qy /= norm;
+    qz /= norm;
+    qw /= norm;
+
+    // Calculating the angle theta
+    double theta = 2.0 * std::acos(qw);
+    double s = std::sqrt(1.0 - qw*qw);
+
+    if (s < 1e-8) {
+        // Very small rotation → axis undefined, set to zero rotation
+        rx = ry = rz = 0.0;
+    } else {
+        // Normalized axis vector * angle = rotation vector
+        rx = theta * (qx / s);
+        ry = theta * (qy / s);
+        rz = theta * (qz / s);
+    }
 }
 
 bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,

From 8c9759491f8363cb4114fc01e1a5b724a90592b5 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 18 Jun 2025 17:29:02 +0200
Subject: [PATCH 60/99] removed include <cmath>

---
 ur_robot_driver/src/hardware_interface.cpp | 33 ++++------------------
 1 file changed, 6 insertions(+), 27 deletions(-)

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 794f99ec1..d600b455c 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -44,7 +44,6 @@
 #include <string>
 #include <utility>
 #include <vector>
-#include <cmath>
 
 #include "ur_client_library/exceptions.h"
 #include "ur_client_library/ur/tool_communication.h"
@@ -1927,32 +1926,12 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
 
 void URPositionHardwareInterface::quaternionToRotVec(double qx, double qy, double qz, double qw,
                                                      double& rx, double& ry, double& rz) {
-    // Calculating the norm of the quaternion
-    double norm = std::sqrt(qx*qx + qy*qy + qz*qz + qw*qw);
-    if (norm < 1e-8) {
-        // Invalid quaternion → zero rotation
-        rx = ry = rz = 0.0;
-        return;
-    }
-
-    qx /= norm;
-    qy /= norm;
-    qz /= norm;
-    qw /= norm;
-
-    // Calculating the angle theta
-    double theta = 2.0 * std::acos(qw);
-    double s = std::sqrt(1.0 - qw*qw);
-
-    if (s < 1e-8) {
-        // Very small rotation → axis undefined, set to zero rotation
-        rx = ry = rz = 0.0;
-    } else {
-        // Normalized axis vector * angle = rotation vector
-        rx = theta * (qx / s);
-        ry = theta * (qy / s);
-        rz = theta * (qz / s);
-    }
+    tf2::Quaternion q(qx, qy, qz, qw);
+    const double angle = q.getAngle();
+    const auto axis = q.getAxis();
+    rx = axis.x() * angle;  // rx
+    ry = axis.y() * angle;  // ry
+    rz = axis.z() * angle;  // rz
 }
 
 bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,

From 91e0add903f0f010c0d2bab81d9abf94bbbcdd35 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 30 Jun 2025 10:11:18 +0200
Subject: [PATCH 61/99] removed queue_size param

---
 ur_robot_driver/config/ur_controllers.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 8349d088c..83ffbb546 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -209,4 +209,3 @@ motion_primitive_controller:
     state_interfaces:
       - execution_status
       - ready_for_new_primitive
-    queue_size: 50    # queue size to buffer incoming commands

From 71a13429d557f1e19564f454cf1c9a4568f0f497 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 30 Jun 2025 16:07:06 +0200
Subject: [PATCH 62/99] removed name from ros__parameters of
 motion_primitive_controller

---
 ur_robot_driver/config/ur_controllers.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 83ffbb546..268a28513 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -179,7 +179,6 @@ tcp_pose_broadcaster:
 
 motion_primitive_controller:
   ros__parameters:
-    name: motion_primitive
     command_interfaces:
       - motion_type
       - q1

From 3e37d6e8da51ec9170d6949c83409d83ff51c0d1 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 1 Jul 2025 12:25:29 +0200
Subject: [PATCH 63/99] Adjusted ExecutionState and MotionType for Enum
 definition in moprim controller

---
 .../ur_robot_driver/hardware_interface.hpp    |   7 +-
 ur_robot_driver/src/hardware_interface.cpp    | 121 ++++++++++--------
 2 files changed, 71 insertions(+), 57 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 68c4d4387..678bed99c 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -67,8 +67,8 @@
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
-#include "motion_primitives_forward_controller/execution_state.hpp"
-#include "motion_primitives_forward_controller/motion_type.hpp"
+// Motion primitives controller
+#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
 
 namespace ur_robot_driver
 {
@@ -289,7 +289,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
-  std::atomic<int8_t> current_moprim_execution_status_;
+  using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
+  MoprimExecutionState current_moprim_execution_status_;
   std::atomic_bool ready_for_new_moprim_;
 
   // Command and state interfaces for the motion primitives
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index d600b455c..3df8c38ff 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -56,6 +56,9 @@
 
 namespace rtde = urcl::rtde_interface;
 
+using MoprimMotionType = motion_primitives_forward_controller::MotionType;
+
+
 namespace ur_robot_driver
 {
 
@@ -105,7 +108,7 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   new_moprim_cmd_available_ = false;
   new_moprim_stop_available_ = false;
   new_moprim_reset_available_ = false;
-  current_moprim_execution_status_ = ExecutionState::IDLE;
+  current_moprim_execution_status_ = MoprimExecutionState::IDLE;
   ready_for_new_moprim_ = false;
   motion_primitives_forward_controller_running_ = false;
   // 2 States: execution_status, ready_for_new_primitive
@@ -859,7 +862,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     updateNonDoubleValues();
 
     // Motion primitives stuff
-    hw_moprim_states_[0] = current_moprim_execution_status_;
+    hw_moprim_states_[0] = static_cast<uint8_t>(current_moprim_execution_status_);
     hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
 
     return hardware_interface::return_type::OK;
@@ -1391,7 +1394,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
                                                   StoppingInterface::STOP_MOTION_PRIMITIVES) != stop_modes_[0].end()) {
     motion_primitives_forward_controller_running_ = false;
     resetMoprimCmdInterfaces();
-    current_moprim_execution_status_ = ExecutionState::IDLE;
+    current_moprim_execution_status_ = MoprimExecutionState::IDLE;
     ready_for_new_moprim_ = false;
 
     // use the callback from the hardware_interface implementation (not the one of the instruction_executor_)
@@ -1445,7 +1448,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     // use the callback from the instruction_executor_ (not the one of the hardware_interface implementation)
     instruction_executor_->registerTrajDoneCallback();
     resetMoprimCmdInterfaces();
-    current_moprim_execution_status_ = ExecutionState::IDLE;
+    current_moprim_execution_status_ = MoprimExecutionState::IDLE;
     ready_for_new_moprim_ = true;
     motion_primitives_forward_controller_running_ = true;
 
@@ -1586,31 +1589,41 @@ void URPositionHardwareInterface::handleMoprimCommands()
     // set state interface immediately
     // --> if waiting for next read() cycle it happens sometimes that a command is overwritten
     hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
-    if (hw_moprim_commands_[0] == MotionType::STOP_MOTION) {
-      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-      if (!new_moprim_stop_available_) {
-        new_moprim_stop_available_ = true;
-        resetMoprimCmdInterfaces();
+
+    switch (static_cast<MoprimMotionType>(static_cast<uint8_t>(hw_moprim_commands_[0]))) {
+      case MoprimMotionType::STOP_MOTION:
+      {
+        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+        if (!new_moprim_stop_available_) {
+          new_moprim_stop_available_ = true;
+          resetMoprimCmdInterfaces();
+        }
+        break;
       }
-    } else if (hw_moprim_commands_[0] == MotionType::RESET_STOP) {
-      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-      if (!new_moprim_reset_available_) {
-        new_moprim_reset_available_ = true;
-        resetMoprimCmdInterfaces();
+      case MoprimMotionType::RESET_STOP:
+      {
+        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
+        if (!new_moprim_reset_available_) {
+          new_moprim_reset_available_ = true;
+          resetMoprimCmdInterfaces();
+        }
+        break;
       }
-    } else {
-      std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
-      if (!new_moprim_cmd_available_) {
-        // Copy command to thread-safe buffer
-        pending_moprim_cmd_ = hw_moprim_commands_;
-        new_moprim_cmd_available_ = true;
-        resetMoprimCmdInterfaces();
+      default:
+      {
+        std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
+        if (!new_moprim_cmd_available_) {
+          // Copy command to thread-safe buffer
+          pending_moprim_cmd_ = hw_moprim_commands_;
+          new_moprim_cmd_available_ = true;
+          resetMoprimCmdInterfaces();
+        }
+        break;
       }
     }
   }
-
   // Send keepalive if current_moprim_execution_status_ is not EXECUTING
-  if (ur_driver_ && current_moprim_execution_status_ != ExecutionState::EXECUTING) {
+  if (ur_driver_ && current_moprim_execution_status_ != MoprimExecutionState::EXECUTING) {
     ur_driver_->writeKeepalive();
   }
 }
@@ -1649,26 +1662,26 @@ void URPositionHardwareInterface::processMoprimStopCmd()
     RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping motion ...");
     if (!instruction_executor_->cancelMotion()) {
       RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to stop motion");
-      current_moprim_execution_status_ = ExecutionState::ERROR;
+      current_moprim_execution_status_ = MoprimExecutionState::ERROR;
     } else {
       RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Motion stopped successfully");
-      current_moprim_execution_status_ = ExecutionState::STOPPED;
+      current_moprim_execution_status_ = MoprimExecutionState::STOPPED;
       ready_for_new_moprim_ = false;
     }
   } else {
     RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "No motion to stop");
-    current_moprim_execution_status_ = ExecutionState::STOPPED;
+    current_moprim_execution_status_ = MoprimExecutionState::STOPPED;
     ready_for_new_moprim_ = false;
   }
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
               " [processMoprimStopCmd] After executing stop: current_moprim_execution_status_ = %d",
-              current_moprim_execution_status_.load());
+              static_cast<uint8_t>(current_moprim_execution_status_));
 }
 
 void URPositionHardwareInterface::processMoprimResetCmd()
 {
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received RESET_STOP command");
-  current_moprim_execution_status_ = ExecutionState::IDLE;
+  current_moprim_execution_status_ = MoprimExecutionState::IDLE;
   ready_for_new_moprim_ = true;  // set to true to allow sending new commands
 }
 
@@ -1705,8 +1718,8 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
   double blend_radius = command[21];
 
   try {
-    switch (static_cast<uint8_t>(motion_type)) {
-      case MotionType::MOTION_SEQUENCE_START:
+    switch (static_cast<MoprimMotionType>(static_cast<uint8_t>(motion_type))) {
+      case MoprimMotionType::MOTION_SEQUENCE_START:
       {
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all "
                                                                        "following "
@@ -1717,18 +1730,18 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         return;
       }
 
-      case MotionType::MOTION_SEQUENCE_END:
+      case MoprimMotionType::MOTION_SEQUENCE_END:
       {
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                     "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives",
                     moprim_sequence_.size());
         build_moprim_sequence_ = false;
-        current_moprim_execution_status_ = ExecutionState::EXECUTING;
+        current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
         bool success = instruction_executor_->executeMotion(moprim_sequence_);
-        current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+        current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                     " [processMoprimMotionCmd] After executing motion sequence: current_moprim_execution_status_ = %d",
-                    current_moprim_execution_status_.load());
+                    static_cast<uint8_t>(current_moprim_execution_status_));
         moprim_sequence_.clear();
         if (success) {
           ready_for_new_moprim_ = true;  // set to true to allow sending new commands
@@ -1736,14 +1749,14 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         return;
       }
 
-      case MotionType::LINEAR_JOINT:
+      case MoprimMotionType::LINEAR_JOINT:
       {  // moveJ
         // Check if joint positions are valid
         for (int i = 1; i <= 6; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: joint positions "
                                                                             "contain NaN values");
-            current_moprim_execution_status_ = ExecutionState::ERROR;
+            current_moprim_execution_status_ = MoprimExecutionState::ERROR;
             return;
           }
         }
@@ -1753,7 +1766,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
                                                                           "values");
-          current_moprim_execution_status_ = ExecutionState::ERROR;
+          current_moprim_execution_status_ = MoprimExecutionState::ERROR;
           return;
         }
 
@@ -1770,17 +1783,17 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
           ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
-          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       "Executing moveJ with joint positions: [%f, %f, %f, %f, %f, %f], "
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
                       joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
           bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
-          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       " [processMoprimMotionCmd] After executing moveJ: current_moprim_execution_status_ = %d",
-                      current_moprim_execution_status_.load());
+                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
@@ -1789,14 +1802,14 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         break;
       }
 
-      case MotionType::LINEAR_CARTESIAN:
+      case MoprimMotionType::LINEAR_CARTESIAN:
       {  // moveL
         // Check if pose values (position and quaternion) are valid
         for (int i = 7; i <= 13; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
                                                                             "values");
-            current_moprim_execution_status_ = ExecutionState::ERROR;
+            current_moprim_execution_status_ = MoprimExecutionState::ERROR;
             return;
           }
         }
@@ -1808,7 +1821,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         if (!getMoprimTimeOrVelAndAcc(command, velocity, acceleration, move_time)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid move_time, velocity or acceleration "
                                                                           "values");
-          current_moprim_execution_status_ = ExecutionState::ERROR;
+          current_moprim_execution_status_ = MoprimExecutionState::ERROR;
           return;
         }
 
@@ -1825,17 +1838,17 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
           ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
-          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       "Executing moveL with pose: [%f, %f, %f, %f, %f, %f], "
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
                       blend_radius);
           bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
-          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       " [processMoprimMotionCmd] After executing moveL: current_moprim_execution_status_ = %d",
-                      current_moprim_execution_status_.load());
+                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
@@ -1844,14 +1857,14 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         break;
       }
 
-      case MotionType::CIRCULAR_CARTESIAN:
+      case MoprimMotionType::CIRCULAR_CARTESIAN:
       {  // CIRC
         // Check if pose values (position and quaternion) are valid
         for (int i = 7; i <= 20; ++i) {
           if (std::isnan(command[i])) {
             RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid motion command: pose contains NaN "
                                                                             "values");
-            current_moprim_execution_status_ = ExecutionState::ERROR;
+            current_moprim_execution_status_ = MoprimExecutionState::ERROR;
             return;
           }
         }
@@ -1863,7 +1876,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         // Get velocity and acceleration)
         if (!getMoprimVelAndAcc(command, velocity, acceleration, move_time)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Invalid velocity or acceleration values");
-          current_moprim_execution_status_ = ExecutionState::ERROR;
+          current_moprim_execution_status_ = MoprimExecutionState::ERROR;
           return;
         }
 
@@ -1889,7 +1902,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
           ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
-          current_moprim_execution_status_ = ExecutionState::EXECUTING;
+          current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       "Executing moveC with via_pose: [%f, %f, %f, %f, %f, %f], "
                       "goal_pose: [%f, %f, %f, %f, %f, %f], velocity: %f,"
@@ -1898,10 +1911,10 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
                       goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
                       blend_radius, mode);
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
-          current_moprim_execution_status_ = success ? ExecutionState::SUCCESS : ExecutionState::ERROR;
+          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
           RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                       " [processMoprimMotionCmd] After executing moveC: current_moprim_execution_status_ = %d",
-                      current_moprim_execution_status_.load());
+                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
@@ -1914,13 +1927,13 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
       {
         RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"),
                      "Invalid motion command: motion type %f is not supported", motion_type);
-        current_moprim_execution_status_ = ExecutionState::ERROR;
+        current_moprim_execution_status_ = MoprimExecutionState::ERROR;
         return;
       }
     }
   } catch (const std::exception& e) {
     RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to execute motion command: %s", e.what());
-    current_moprim_execution_status_ = ExecutionState::ERROR;
+    current_moprim_execution_status_ = MoprimExecutionState::ERROR;
   }
 }
 

From 0953a67781d4bd7f53c73e51c3fa074e035aecd6 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 2 Jul 2025 14:07:12 +0200
Subject: [PATCH 64/99] renamed motion_primitive_controller to
 motion_primitive_forward_controller

---
 ur_robot_driver/README_MotionPrimitive.md                   | 6 +++---
 ur_robot_driver/config/ur_controllers.yaml                  | 4 ++--
 .../examples/send_dummy_motion_primitives_hka_ur10e.py      | 4 ++--
 ur_robot_driver/launch/ur_control.launch.py                 | 4 ++--
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index b645481f1..17f7678e1 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -107,15 +107,15 @@ https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.
 ## Launch hardware_interface with motion_primitives_ur_driver
 With URSim:
 ```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_controller
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_forward_controller
 ```
 With H-KA UR10e:
 ```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_controller
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_forward_controller
 ```
 ## (optional) switching control mode
 ```
-ros2 control switch_controllers --activate motion_primitive_controller --deactivate scaled_joint_trajectory_controller
+ros2 control switch_controllers --activate motion_primitive_forward_controller --deactivate scaled_joint_trajectory_controller
 ```
 ## Publish motion primitives
 > [!WARNING]
diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 268a28513..dff1c778c 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -39,7 +39,7 @@ controller_manager:
     ur_configuration_controller:
       type: ur_controllers/URConfigurationController
 
-    motion_primitive_controller:
+    motion_primitive_forward_controller:
       type: motion_primitives_forward_controller/MotionPrimitivesForwardController
 
 speed_scaling_state_broadcaster:
@@ -177,7 +177,7 @@ tcp_pose_broadcaster:
       child_frame_id: $(var tf_prefix)tool0_controller
 
 
-motion_primitive_controller:
+motion_primitive_forward_controller:
   ros__parameters:
     command_interfaces:
       - motion_type
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index 8eae90f5a..8a3dfd0e2 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -180,12 +180,12 @@ def __init__(self):
 
         # Initialize action client for ExecuteMotion action
         self._client = ActionClient(
-            self, ExecuteMotion, "/motion_primitive_controller/motion_sequence"
+            self, ExecuteMotion, "/motion_primitive_forward_controller/motion_sequence"
         )
 
         # Initialize client for cancel_goal service
         self._cancel_client = self.create_client(
-            CancelGoal, "/motion_primitive_controller/motion_sequence/_action/cancel_goal"
+            CancelGoal, "/motion_primitive_forward_controller/motion_sequence/_action/cancel_goal"
         )
 
         self._goal_id = None  # To store the goal ID for cancellation
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 4163867f5..c3c10f8a0 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -192,7 +192,7 @@ def controller_spawner(controllers, active=True):
         "force_mode_controller",
         "passthrough_trajectory_controller",
         "freedrive_mode_controller",
-        "motion_primitive_controller",
+        "motion_primitive_forward_controller",
     ]
     if activate_joint_controller.perform(context) == "true":
         controllers_active.append(initial_joint_controller.perform(context))
@@ -347,7 +347,7 @@ def generate_launch_description():
                 "forward_position_controller",
                 "freedrive_mode_controller",
                 "passthrough_trajectory_controller",
-                "motion_primitive_controller",
+                "motion_primitive_forward_controller",
             ],
             description="Initially loaded robot controller.",
         )

From f2fda769ecc334af918ce2c06a22484b7f528142 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 8 Jul 2025 12:39:35 +0200
Subject: [PATCH 65/99] Adjusted Action GoalStatus handling to changes in the
 controller implementation

---
 ur_robot_driver/README_MotionPrimitive.md        |  2 +-
 .../send_dummy_motion_primitives_hka_ur10e.py    | 16 +++++++++-------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 17f7678e1..f46896370 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -117,7 +117,7 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.16
 ```
 ros2 control switch_controllers --activate motion_primitive_forward_controller --deactivate scaled_joint_trajectory_controller
 ```
-## Publish motion primitives
+## Send motion primitives
 > [!WARNING]
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index 8a3dfd0e2..4ab0f86a1 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -23,6 +23,7 @@
 from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument, MotionSequence
 from industrial_robot_motion_interfaces.action import ExecuteMotion
 from action_msgs.srv import CancelGoal
+from action_msgs.msg import GoalStatus 
 import threading
 import sys
 
@@ -250,17 +251,18 @@ def feedback_callback(self, feedback_msg):
 
     def result_callback(self, future):
         """Handle the result from the action server after goal finishes or is canceled."""
-        result = future.result().result
-        if result.error_code == ExecuteMotion.Result.SUCCESSFUL:
+        result = future.result()
+        status = result.status
+
+        if status == GoalStatus.STATUS_SUCCEEDED:
             self.get_logger().info("Motion sequence executed successfully!")
-        elif result.error_code == ExecuteMotion.Result.CANCELED:
+        elif status == GoalStatus.STATUS_CANCELED:
             self.get_logger().info("Motion sequence was canceled.")
-        elif result.error_code == ExecuteMotion.Result.FAILED:
+        elif status == GoalStatus.STATUS_ABORTED:
             self.get_logger().error("Motion sequence execution failed.")
         else:
-            self.get_logger().error(
-                f"Execution failed: {result.error_code} - {result.error_string}"
-            )
+            self.get_logger().error(f"Execution ended with status: {status}")
+
         rclpy.shutdown()
 
     def _wait_for_keypress(self):

From 4554f8a7c4fd8eecd55981334a0842d9faf7506e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 8 Jul 2025 13:20:47 +0200
Subject: [PATCH 66/99] Using MotionType from msg definition and
 MotionHelperType from enum in the controller

---
 ur_robot_driver/CMakeLists.txt                    |  2 ++
 .../ur_robot_driver/hardware_interface.hpp        |  4 ++++
 ur_robot_driver/package.xml                       |  1 +
 ur_robot_driver/src/hardware_interface.cpp        | 15 ++++++---------
 4 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 490247c10..d7673691d 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -35,6 +35,7 @@ find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
 find_package(motion_primitives_forward_controller REQUIRED)
+find_package(industrial_robot_motion_interfaces REQUIRED)
 
 include_directories(include)
 
@@ -53,6 +54,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   ur_dashboard_msgs
   ur_msgs
   motion_primitives_forward_controller
+  industrial_robot_motion_interfaces
 )
 
 add_library(ur_robot_driver_plugin
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 678bed99c..2d7019fe3 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -69,6 +69,10 @@
 
 // Motion primitives controller
 #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp"
+
+using MoprimMotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive;
+using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
 
 namespace ur_robot_driver
 {
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 23789b2ea..64b5efd8a 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -49,6 +49,7 @@
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
   <depend>motion_primitives_forward_controller</depend>
+  <depend>industrial_robot_motion_interfaces</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 3df8c38ff..7f945a2d7 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -56,9 +56,6 @@
 
 namespace rtde = urcl::rtde_interface;
 
-using MoprimMotionType = motion_primitives_forward_controller::MotionType;
-
-
 namespace ur_robot_driver
 {
 
@@ -1590,8 +1587,8 @@ void URPositionHardwareInterface::handleMoprimCommands()
     // --> if waiting for next read() cycle it happens sometimes that a command is overwritten
     hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
 
-    switch (static_cast<MoprimMotionType>(static_cast<uint8_t>(hw_moprim_commands_[0]))) {
-      case MoprimMotionType::STOP_MOTION:
+    switch (static_cast<uint8_t>(hw_moprim_commands_[0])) {
+      case static_cast<uint8_t>(MoprimMotionHelperType::STOP_MOTION):
       {
         std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
         if (!new_moprim_stop_available_) {
@@ -1600,7 +1597,7 @@ void URPositionHardwareInterface::handleMoprimCommands()
         }
         break;
       }
-      case MoprimMotionType::RESET_STOP:
+      case static_cast<uint8_t>(MoprimMotionHelperType::RESET_STOP):
       {
         std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
         if (!new_moprim_reset_available_) {
@@ -1718,8 +1715,8 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
   double blend_radius = command[21];
 
   try {
-    switch (static_cast<MoprimMotionType>(static_cast<uint8_t>(motion_type))) {
-      case MoprimMotionType::MOTION_SEQUENCE_START:
+    switch (static_cast<uint8_t>(motion_type)) {
+      case static_cast<uint8_t>(MoprimMotionHelperType::MOTION_SEQUENCE_START):
       {
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all "
                                                                        "following "
@@ -1730,7 +1727,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         return;
       }
 
-      case MoprimMotionType::MOTION_SEQUENCE_END:
+      case static_cast<uint8_t>(MoprimMotionHelperType::MOTION_SEQUENCE_END):
       {
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
                     "Received MOTION_SEQUENCE_END: executing motion sequence with %zu motion primitives",

From 65f3298be48c1b6ea31385a31fad4d131d8a5dfc Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 8 Jul 2025 19:07:11 +0200
Subject: [PATCH 67/99] using ros-controls/control_msgs#228 instead of
 industrial_robot_motion_interfaces

---
 ur_robot_driver/CMakeLists.txt                       |  4 ++--
 ur_robot_driver/README_MotionPrimitive.md            |  2 +-
 .../send_dummy_motion_primitives_hka_ur10e.py        | 12 ++++++------
 .../include/ur_robot_driver/hardware_interface.hpp   |  6 +++---
 ur_robot_driver/package.xml                          |  2 +-
 5 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index d7673691d..4c865b0de 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -35,7 +35,7 @@ find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
 find_package(motion_primitives_forward_controller REQUIRED)
-find_package(industrial_robot_motion_interfaces REQUIRED)
+find_package(control_msgs REQUIRED)
 
 include_directories(include)
 
@@ -54,7 +54,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   ur_dashboard_msgs
   ur_msgs
   motion_primitives_forward_controller
-  industrial_robot_motion_interfaces
+  control_msgs
 )
 
 add_library(ur_robot_driver_plugin
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index f46896370..6f61b17f8 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -9,7 +9,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 [![Play Video](doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png)](https://www.youtube.com/watch?v=htUJtfkgr6Q)
 
 # Related packages/ repos
-- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types)
+- [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action)
 - [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index 4ab0f86a1..0d8c46001 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -20,8 +20,8 @@
 from rclpy.node import Node
 from rclpy.action import ActionClient
 from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument, MotionSequence
-from industrial_robot_motion_interfaces.action import ExecuteMotion
+from control_msgs.msg import MotionPrimitive, MotionArgument, MotionPrimitiveSequence
+from control_msgs.action import ExecuteMotionPrimitiveSequence
 from action_msgs.srv import CancelGoal
 from action_msgs.msg import GoalStatus 
 import threading
@@ -179,9 +179,9 @@ class ExecuteMotionClient(Node):
     def __init__(self):
         super().__init__("motion_sequence_client")
 
-        # Initialize action client for ExecuteMotion action
+        # Initialize action client for ExecuteMotionPrimitiveSequence action
         self._client = ActionClient(
-            self, ExecuteMotion, "/motion_primitive_forward_controller/motion_sequence"
+            self, ExecuteMotionPrimitiveSequence, "/motion_primitive_forward_controller/motion_sequence"
         )
 
         # Initialize client for cancel_goal service
@@ -203,8 +203,8 @@ def _send_goal(self):
         self.get_logger().info("Waiting for action server...")
         self._client.wait_for_server()
 
-        goal_msg = ExecuteMotion.Goal()
-        goal_msg.trajectory = MotionSequence()
+        goal_msg = ExecuteMotionPrimitiveSequence.Goal()
+        goal_msg.trajectory = MotionPrimitiveSequence()
 
         # "pick" sequence with moveC in the end
         goal_msg.trajectory.motions = [moveJ_1, moveL_1, moveL_2, moveJ_2, moveC_1]
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 2d7019fe3..9fff1c8df 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -68,10 +68,10 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 // Motion primitives controller
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
-#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp"
+#include "motion_primitives_forward_controller/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "control_msgs/msg/motion_primitive.hpp"
 
-using MoprimMotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive;
+using MoprimMotionType = control_msgs::msg::MotionPrimitive;
 using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
 
 namespace ur_robot_driver
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 64b5efd8a..ba4e9ecd5 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -49,7 +49,7 @@
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
   <depend>motion_primitives_forward_controller</depend>
-  <depend>industrial_robot_motion_interfaces</depend>
+  <depend>control_msgs</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>

From 7c9e5b0f0fef867b198f8f5be127ffbd7179323d Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 11:33:19 +0200
Subject: [PATCH 68/99] changed {motion_primitives_forward_controller_TARGETS}
 to motion_primitives_forward_controller::motion_primitives_forward_controller

---
 ur_robot_driver/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 96b042c43..6b8794f29 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -64,7 +64,7 @@ target_link_libraries(ur_robot_driver_plugin PUBLIC
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
   ur_client_library::urcl
-  ${motion_primitives_forward_controller_TARGETS}
+  motion_primitives_forward_controller::motion_primitives_forward_controller
 )
 target_include_directories(
   ur_robot_driver_plugin

From fbe4d688a858f14621639f07bd5c38151108cee6 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 11:34:06 +0200
Subject: [PATCH 69/99] Removed duplicate entries in ament_export_dependencies

---
 ur_robot_driver/CMakeLists.txt | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 6b8794f29..56c93179b 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -188,10 +188,6 @@ ament_export_dependencies(
   controller_manager
   controller_manager_msgs
   geometry_msgs
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_lifecycle
   std_msgs
   std_srvs
   tf2_geometry_msgs

From 988af31a1303b61af3a12f1195616f184d42269d Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 11:34:26 +0200
Subject: [PATCH 70/99] fixed motion_primitives_forward_controller included

---
 ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 8e42542a5..f4e2c1d09 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -69,7 +69,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 // Motion primitives controller
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
 #include "control_msgs/msg/motion_primitive.hpp"
 
 using MoprimMotionType = control_msgs::msg::MotionPrimitive;

From 537009558314efe15bdff085ba543a4e3a3e1a7c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 11:34:41 +0200
Subject: [PATCH 71/99] fixed missing ,

---
 ur_robot_driver/src/hardware_interface.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index a981202f6..a69d772a6 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -1274,8 +1274,8 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
         { tf_prefix + FORCE_MODE_GPIO + "/type", FORCE_MODE_GPIO },
         { tf_prefix + PASSTHROUGH_GPIO + "/setpoint_positions_" + std::to_string(i), PASSTHROUGH_GPIO },
         { tf_prefix + FREEDRIVE_MODE_GPIO + "/async_success", FREEDRIVE_MODE_GPIO },
-        { tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state", TOOL_CONTACT_GPIO }
-        { HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES }
+        { tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state", TOOL_CONTACT_GPIO },
+        { HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES },
       };
 
       for (auto& item : start_modes_to_check) {
@@ -1310,7 +1310,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
           StoppingInterface::STOP_PASSTHROUGH },
         { tf_prefix + FREEDRIVE_MODE_GPIO + "/async_success", FREEDRIVE_MODE_GPIO, StoppingInterface::STOP_FREEDRIVE },
         { tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state", TOOL_CONTACT_GPIO,
-          StoppingInterface::STOP_TOOL_CONTACT }
+          StoppingInterface::STOP_TOOL_CONTACT },
         { tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES, StoppingInterface::STOP_MOTION_PRIMITIVES },
 
       };

From 869840cb02f2b9f41270cbd57845243ca89966fe Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 12:11:05 +0200
Subject: [PATCH 72/99] pre-commit fixes

---
 .../send_dummy_motion_primitives_hka_ur10e.py |  6 ++--
 ur_robot_driver/src/hardware_interface.cpp    | 31 ++++++++++---------
 2 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
index 0d8c46001..77d2b29f1 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
@@ -23,7 +23,7 @@
 from control_msgs.msg import MotionPrimitive, MotionArgument, MotionPrimitiveSequence
 from control_msgs.action import ExecuteMotionPrimitiveSequence
 from action_msgs.srv import CancelGoal
-from action_msgs.msg import GoalStatus 
+from action_msgs.msg import GoalStatus
 import threading
 import sys
 
@@ -181,7 +181,9 @@ def __init__(self):
 
         # Initialize action client for ExecuteMotionPrimitiveSequence action
         self._client = ActionClient(
-            self, ExecuteMotionPrimitiveSequence, "/motion_primitive_forward_controller/motion_sequence"
+            self,
+            ExecuteMotionPrimitiveSequence,
+            "/motion_primitive_forward_controller/motion_sequence",
         )
 
         # Initialize client for cancel_goal service
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index a69d772a6..719e8f937 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -727,7 +727,7 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "System successfully started!");
 
   ur_driver_->registerTrajectoryDoneCallback(
-      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));  
+      std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
   // conflict with instruction_executor_ --> callback function needs to get changed when using instruction executor
 
   ur_driver_->registerToolContactResultCallback(
@@ -1311,8 +1311,8 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
         { tf_prefix + FREEDRIVE_MODE_GPIO + "/async_success", FREEDRIVE_MODE_GPIO, StoppingInterface::STOP_FREEDRIVE },
         { tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state", TOOL_CONTACT_GPIO,
           StoppingInterface::STOP_TOOL_CONTACT },
-        { tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES, StoppingInterface::STOP_MOTION_PRIMITIVES },
-
+        { tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES,
+          StoppingInterface::STOP_MOTION_PRIMITIVES },
       };
       for (auto& item : stop_modes_to_check) {
         if (key == std::get<0>(item)) {
@@ -1371,8 +1371,9 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     freedrive_mode_controller_running_ = false;
     freedrive_activated_ = false;
     freedrive_mode_abort_ = 1.0;
-  } if (stop_modes_.size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
-                                                  StoppingInterface::STOP_MOTION_PRIMITIVES) != stop_modes_[0].end()) {
+  }
+  if (stop_modes_.size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
+                                           StoppingInterface::STOP_MOTION_PRIMITIVES) != stop_modes_[0].end()) {
     motion_primitives_forward_controller_running_ = false;
     resetMoprimCmdInterfaces();
     current_moprim_execution_status_ = MoprimExecutionState::IDLE;
@@ -1428,7 +1429,7 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     freedrive_mode_controller_running_ = true;
     freedrive_activated_ = false;
   }
-  if (start_modes_[0].size() != 0 && 
+  if (start_modes_[0].size() != 0 &&
       std::find(start_modes_[0].begin(), start_modes_[0].end(), HW_IF_MOTION_PRIMITIVES) != start_modes_[0].end()) {
     velocity_controller_running_ = false;
     position_controller_running_ = false;
@@ -1613,7 +1614,6 @@ bool URPositionHardwareInterface::is_valid_joint_information(std::vector<std::ar
   return (data.size() > 0 && !std::isnan(data[0][0]));
 }
 
-
 void URPositionHardwareInterface::handleMoprimCommands()
 {
   // Check if we have a new command
@@ -1970,14 +1970,15 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
   }
 }
 
-void URPositionHardwareInterface::quaternionToRotVec(double qx, double qy, double qz, double qw,
-                                                     double& rx, double& ry, double& rz) {
-    tf2::Quaternion q(qx, qy, qz, qw);
-    const double angle = q.getAngle();
-    const auto axis = q.getAxis();
-    rx = axis.x() * angle;  // rx
-    ry = axis.y() * angle;  // ry
-    rz = axis.z() * angle;  // rz
+void URPositionHardwareInterface::quaternionToRotVec(double qx, double qy, double qz, double qw, double& rx, double& ry,
+                                                     double& rz)
+{
+  tf2::Quaternion q(qx, qy, qz, qw);
+  const double angle = q.getAngle();
+  const auto axis = q.getAxis();
+  rx = axis.x() * angle;  // rx
+  ry = axis.y() * angle;  // ry
+  rz = axis.z() * angle;  // rz
 }
 
 bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,

From 374c3a9ae022e96ee242151693ddd8edd3ac7890 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 12:17:28 +0200
Subject: [PATCH 73/99] removed send_joint_positions.py

---
 ur_robot_driver/CMakeLists.txt                |   1 -
 .../examples/send_joint_positions.py          | 130 ------------------
 2 files changed, 131 deletions(-)
 delete mode 100755 ur_robot_driver/examples/send_joint_positions.py

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 56c93179b..c7abba44c 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -208,7 +208,6 @@ install(PROGRAMS
   examples/examples.py
   examples/force_mode.py
   examples/send_dummy_motion_primitives_hka_ur10e.py
-  examples/send_joint_positions.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/ur_robot_driver/examples/send_joint_positions.py b/ur_robot_driver/examples/send_joint_positions.py
deleted file mode 100755
index 9357b2f82..000000000
--- a/ur_robot_driver/examples/send_joint_positions.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright (c) 2025, b»robotized
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-# Authors: Mathias Fuhrer
-
-import rclpy
-from rclpy.node import Node
-from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
-import time
-
-
-class TrajectoryPublisher(Node):
-    def __init__(self):
-        super().__init__("trajectory_publisher")
-        self.publisher_ = self.create_publisher(
-            JointTrajectory, "/scaled_joint_trajectory_controller/joint_trajectory", 10
-        )
-        time.sleep(1)  # Allow time for publisher to be ready
-
-    def publish_trajectory_startponit(self):
-        msg = JointTrajectory()
-        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.joint_names = [
-            "shoulder_pan_joint",
-            "shoulder_lift_joint",
-            "elbow_joint",
-            "wrist_1_joint",
-            "wrist_2_joint",
-            "wrist_3_joint",
-        ]
-        msg.points = [
-            JointTrajectoryPoint(
-                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=3).to_msg(),
-            )
-        ]  # H-KA UR10e
-        self.publisher_.publish(msg)
-        self.get_logger().info("Trajectory startpoint published successfully.")
-
-    def publish_trajectory_sequence(self):
-        msg = JointTrajectory()
-        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.joint_names = [
-            "shoulder_pan_joint",
-            "shoulder_lift_joint",
-            "elbow_joint",
-            "wrist_1_joint",
-            "wrist_2_joint",
-            "wrist_3_joint",
-        ]
-
-        # Define multiple trajectory points
-        # H-KA UR10e
-        points = [
-            # JointTrajectoryPoint(positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57], velocities=[0.0]*6, time_from_start=rclpy.duration.Duration(seconds=).to_msg()),
-            JointTrajectoryPoint(
-                positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=1).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[2.0, -0.9, 0.7, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=2).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[2.4, -1.57, 1.57, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=3).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=4).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[1.57, -1.1, 1.0, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=5).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[1.1, -0.9, 0.7, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=6).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[0.7, -1.57, 1.57, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=7).to_msg(),
-            ),
-            JointTrajectoryPoint(
-                positions=[1.57, -1.57, 1.57, -1.57, -1.57, -1.57],
-                velocities=[0.0] * 6,
-                time_from_start=rclpy.duration.Duration(seconds=8).to_msg(),
-            ),
-        ]
-
-        msg.points = points
-        self.publisher_.publish(msg)
-        self.get_logger().info("Trajectory sequence published successfully.")
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = TrajectoryPublisher()
-    node.publish_trajectory_startponit()
-    time.sleep(4)
-    for _ in range(1):
-        node.publish_trajectory_sequence()
-        time.sleep(8)  # Adjust time to sequence length
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

From cfd07e24f8f78252f15b1afb34bc0eaf1d46c094 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 12:19:32 +0200
Subject: [PATCH 74/99] removed hka in
 send_dummy_motion_primitives_hka_ur10e.py

---
 ur_robot_driver/CMakeLists.txt                                  | 2 +-
 ur_robot_driver/README_MotionPrimitive.md                       | 2 +-
 ...tives_hka_ur10e.py => send_dummy_motion_primitives_ur10e.py} | 0
 3 files changed, 2 insertions(+), 2 deletions(-)
 rename ur_robot_driver/examples/{send_dummy_motion_primitives_hka_ur10e.py => send_dummy_motion_primitives_ur10e.py} (100%)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index c7abba44c..15c810594 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -207,7 +207,7 @@ install(PROGRAMS
   scripts/start_ursim.sh
   examples/examples.py
   examples/force_mode.py
-  examples/send_dummy_motion_primitives_hka_ur10e.py
+  examples/send_dummy_motion_primitives_ur10e.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 6f61b17f8..9fe6fa973 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -121,7 +121,7 @@ ros2 control switch_controllers --activate motion_primitive_forward_controller -
 > [!WARNING]
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
-ros2 run ur_robot_driver send_dummy_motion_primitives_hka_ur10e.py
+ros2 run ur_robot_driver send_dummy_motion_primitives_ur10e.py
 ```
 During the execution of the motion primitives, the movement can be stopped by pressing the Enter key in the terminal.
 
diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
similarity index 100%
rename from ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py
rename to ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py

From fe5b872ff25b73babad1c894ad1935dc7830764e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 9 Jul 2025 12:31:53 +0200
Subject: [PATCH 75/99] changed license in
 send_dummy_motion_primitives_ur10e.py from apache 2.0 to BSD-3

---
 .../send_dummy_motion_primitives_ur10e.py     | 32 +++++++++++++------
 1 file changed, 23 insertions(+), 9 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
index 77d2b29f1..9ad81cab8 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
@@ -2,17 +2,31 @@
 
 # Copyright (c) 2025, b»robotized
 #
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
 #
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the {copyright_holder} nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 #
 # Authors: Mathias Fuhrer
 

From 7f2c44af142be5b9b812fe3947462ba4da89416b Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 14 Jul 2025 07:59:41 +0200
Subject: [PATCH 76/99] Changed rolling.repos file for ros2_controllers and
 control_msgs. Need to revert the change after the PRs are merged.

---
 Universal_Robots_ROS2_Driver.rolling.repos | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos
index 9ab8ff404..0f5f0b35f 100644
--- a/Universal_Robots_ROS2_Driver.rolling.repos
+++ b/Universal_Robots_ROS2_Driver.rolling.repos
@@ -17,16 +17,20 @@ repositories:
     version: master
   ros2_controllers:
     type: git
-    url: https://github.com/ros-controls/ros2_controllers
-    version: master
+    url: https://github.com/b-robotized-forks/ros2_controllers
+    version: motion_primitive_forward_controller
+    # url: https://github.com/ros-controls/ros2_controllers
+    # version: master
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
     version: master
   control_msgs:
     type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: master
+    url: https://github.com/urfeex/control_msgs.git
+    version: motion_primitives
+    # url: https://github.com/ros-controls/control_msgs.git
+    # version: master
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git

From df338bea2445592701fea907b74abb5b01b29def Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 15 Jul 2025 16:52:29 +0200
Subject: [PATCH 77/99] Using
 https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/359
 to register multiple callbacks.

---
 Universal_Robots_ROS2_Driver.rolling.repos |  6 ++++--
 ur_robot_driver/src/hardware_interface.cpp | 13 ++++---------
 2 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos
index 0f5f0b35f..684626b92 100644
--- a/Universal_Robots_ROS2_Driver.rolling.repos
+++ b/Universal_Robots_ROS2_Driver.rolling.repos
@@ -1,8 +1,10 @@
 repositories:
   Universal_Robots_Client_Library:
     type: git
-    url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
-    version: master
+    url: https://github.com/urfeex/Universal_Robots_Client_Library.git
+    version: callback_lists
+    # url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
+    # version: master
   Universal_Robots_ROS2_Description:
     type: git
     url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 719e8f937..13e520569 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -728,7 +728,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
 
   ur_driver_->registerTrajectoryDoneCallback(
       std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
-  // conflict with instruction_executor_ --> callback function needs to get changed when using instruction executor
 
   ur_driver_->registerToolContactResultCallback(
       std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));
@@ -1379,10 +1378,6 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     current_moprim_execution_status_ = MoprimExecutionState::IDLE;
     ready_for_new_moprim_ = false;
 
-    // use the callback from the hardware_interface implementation (not the one of the instruction_executor_)
-    ur_driver_->registerTrajectoryDoneCallback(
-        std::bind(&URPositionHardwareInterface::trajectory_done_callback, this, std::placeholders::_1));
-
     RCLCPP_INFO(get_logger(), "Motion primitives mode stopped.");
   }
   if (stop_modes_.size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
@@ -1437,8 +1432,6 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
     passthrough_trajectory_controller_running_ = false;
     force_mode_controller_running_ = false;
 
-    // use the callback from the instruction_executor_ (not the one of the hardware_interface implementation)
-    instruction_executor_->registerTrajDoneCallback();
     resetMoprimCmdInterfaces();
     current_moprim_execution_status_ = MoprimExecutionState::IDLE;
     ready_for_new_moprim_ = true;
@@ -1998,8 +1991,10 @@ bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<dou
     move_time = 0.0;
     return true;
   } else {
-    RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "move_time, velocity and acceleration are all "
-                                                                    "invalid");
+    RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"),
+                 "Invalid motion parameters: move_time = %.3f, velocity = %.3f, acceleration = %.3f", command[24],
+                 command[22], command[23]);
+
     return false;
   }
 }

From ccabe992bbcde52599c96461d28d9da637528b60 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 16 Jul 2025 10:48:11 +0200
Subject: [PATCH 78/99] modified z position in
 send_dummy_motion_primitives_ur10e.py

---
 .../examples/send_dummy_motion_primitives_ur10e.py        | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
index 9ad81cab8..81ff23065 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
@@ -68,7 +68,7 @@
 pose_L1 = PoseStamped()
 pose_L1.pose.position.x = 0.174
 pose_L1.pose.position.y = -0.692
-pose_L1.pose.position.z = 0.1
+pose_L1.pose.position.z = 0.3
 pose_L1.pose.orientation.x = 1.0
 pose_L1.pose.orientation.y = 0.0
 pose_L1.pose.orientation.z = 0.0
@@ -83,7 +83,7 @@
 pose_L2 = PoseStamped()
 pose_L2.pose.position.x = 0.174
 pose_L2.pose.position.y = -0.692
-pose_L2.pose.position.z = 0.5
+pose_L2.pose.position.z = 0.7
 pose_L2.pose.orientation.x = 1.0
 pose_L2.pose.orientation.y = 0.0
 pose_L2.pose.orientation.z = 0.0
@@ -105,7 +105,7 @@
 pose_C1_via = PoseStamped()
 pose_C1_via.pose.position.x = 0.174
 pose_C1_via.pose.position.y = -0.9
-pose_C1_via.pose.position.z = 0.5
+pose_C1_via.pose.position.z = 0.7
 pose_C1_via.pose.orientation.x = 1.0
 pose_C1_via.pose.orientation.y = 0.0
 pose_C1_via.pose.orientation.z = 0.0
@@ -113,7 +113,7 @@
 pose_C1_goal = PoseStamped()
 pose_C1_goal.pose.position.x = 0.5
 pose_C1_goal.pose.position.y = -0.692
-pose_C1_goal.pose.position.z = 0.5
+pose_C1_goal.pose.position.z = 0.7
 pose_C1_goal.pose.orientation.x = 1.0
 pose_C1_goal.pose.orientation.y = 0.0
 pose_C1_goal.pose.orientation.z = 0.0

From ff6ab767adb6e1e6267c3c63d832902a9d17540e Mon Sep 17 00:00:00 2001
From: "github-actions[bot]" <github-actions[bot]@users.noreply.github.com>
Date: Sun, 20 Jul 2025 05:44:22 +0000
Subject: [PATCH 79/99] Auto-update pre-commit hooks

---
 .pre-commit-config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a5945be29..1e80e8805 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -87,7 +87,7 @@ repos:
         args: ["--linelength=120"]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: 'v20.1.7'
+    rev: 'v20.1.8'
     hooks:
       - id: clang-format
 

From a60acf5442c5de5998e4a77c1e9d728c9c3ed0ae Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 21 Jul 2025 10:26:59 +0200
Subject: [PATCH 80/99] Modified rolling repos since
 https://github.com/ros-controls/control_msgs/pull/228 got merged

---
 Universal_Robots_ROS2_Driver.rolling.repos | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos
index 684626b92..c257efffb 100644
--- a/Universal_Robots_ROS2_Driver.rolling.repos
+++ b/Universal_Robots_ROS2_Driver.rolling.repos
@@ -29,10 +29,8 @@ repositories:
     version: master
   control_msgs:
     type: git
-    url: https://github.com/urfeex/control_msgs.git
-    version: motion_primitives
-    # url: https://github.com/ros-controls/control_msgs.git
-    # version: master
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git

From 227140ed6cc30b3c1d5fb1fee842a71e79183aa7 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 21 Jul 2025 10:28:55 +0200
Subject: [PATCH 81/99] pass full interface names to the controller (such as
 $(var tf_prefix)motion_primitive/q1)

---
 ur_robot_driver/config/ur_controllers.yaml | 54 ++++++++--------
 ur_robot_driver/src/hardware_interface.cpp | 74 +++++++++++-----------
 2 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 227ef52f4..8486ce817 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -195,31 +195,31 @@ tool_contact_controller:
 motion_primitive_forward_controller:
   ros__parameters:
     command_interfaces:
-      - motion_type
-      - q1
-      - q2
-      - q3
-      - q4
-      - q5
-      - q6
-      - pos_x
-      - pos_y
-      - pos_z
-      - pos_qx
-      - pos_qy
-      - pos_qz
-      - pos_qw
-      - pos_via_x
-      - pos_via_y
-      - pos_via_z
-      - pos_via_qx
-      - pos_via_qy
-      - pos_via_qz
-      - pos_via_qw
-      - blend_radius
-      - velocity
-      - acceleration
-      - move_time
+      - $(var tf_prefix)motion_primitive/motion_type
+      - $(var tf_prefix)motion_primitive/q1
+      - $(var tf_prefix)motion_primitive/q2
+      - $(var tf_prefix)motion_primitive/q3
+      - $(var tf_prefix)motion_primitive/q4
+      - $(var tf_prefix)motion_primitive/q5
+      - $(var tf_prefix)motion_primitive/q6
+      - $(var tf_prefix)motion_primitive/pos_x
+      - $(var tf_prefix)motion_primitive/pos_y
+      - $(var tf_prefix)motion_primitive/pos_z
+      - $(var tf_prefix)motion_primitive/pos_qx
+      - $(var tf_prefix)motion_primitive/pos_qy
+      - $(var tf_prefix)motion_primitive/pos_qz
+      - $(var tf_prefix)motion_primitive/pos_qw
+      - $(var tf_prefix)motion_primitive/pos_via_x
+      - $(var tf_prefix)motion_primitive/pos_via_y
+      - $(var tf_prefix)motion_primitive/pos_via_z
+      - $(var tf_prefix)motion_primitive/pos_via_qx
+      - $(var tf_prefix)motion_primitive/pos_via_qy
+      - $(var tf_prefix)motion_primitive/pos_via_qz
+      - $(var tf_prefix)motion_primitive/pos_via_qw
+      - $(var tf_prefix)motion_primitive/blend_radius
+      - $(var tf_prefix)motion_primitive/velocity
+      - $(var tf_prefix)motion_primitive/acceleration
+      - $(var tf_prefix)motion_primitive/move_time
     state_interfaces:
-      - execution_status
-      - ready_for_new_primitive
+      - $(var tf_prefix)motion_primitive/execution_status
+      - $(var tf_prefix)motion_primitive/ready_for_new_primitive
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 13e520569..bdf0df0db 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -334,10 +334,10 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
       hardware_interface::StateInterface(tf_prefix + TOOL_CONTACT_GPIO, "tool_contact_state", &tool_contact_state_));
 
   // Motion primitives stuff
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(HW_IF_MOTION_PRIMITIVES, "execution_status", &hw_moprim_states_[0]));
-  state_interfaces.emplace_back(
-      hardware_interface::StateInterface(HW_IF_MOTION_PRIMITIVES, "ready_for_new_primitive", &hw_moprim_states_[1]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                   "execution_status", &hw_moprim_states_[0]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                   "ready_for_new_primitive", &hw_moprim_states_[1]));
 
   return state_interfaces;
 }
@@ -481,60 +481,60 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
 
   // Motion primitives stuff
   // Command for motion type (motion_type)
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "motion_type", &hw_moprim_commands_[0]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "motion_type", &hw_moprim_commands_[0]));
   // Joint position commands (q1, q2, ..., q6)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q1", &hw_moprim_commands_[1]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q1", &hw_moprim_commands_[1]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q2", &hw_moprim_commands_[2]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q2", &hw_moprim_commands_[2]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q3", &hw_moprim_commands_[3]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q3", &hw_moprim_commands_[3]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q4", &hw_moprim_commands_[4]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q4", &hw_moprim_commands_[4]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q5", &hw_moprim_commands_[5]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q5", &hw_moprim_commands_[5]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "q6", &hw_moprim_commands_[6]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "q6", &hw_moprim_commands_[6]));
   // Position commands (pos_x, pos_y, pos_z, pos_qx, pos_qy, pos_qz, pos_qz)
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_x", &hw_moprim_commands_[7]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_x", &hw_moprim_commands_[7]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_y", &hw_moprim_commands_[8]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_y", &hw_moprim_commands_[8]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_z", &hw_moprim_commands_[9]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_z", &hw_moprim_commands_[9]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qx", &hw_moprim_commands_[10]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_qx", &hw_moprim_commands_[10]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qy", &hw_moprim_commands_[11]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_qy", &hw_moprim_commands_[11]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qz", &hw_moprim_commands_[12]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_qz", &hw_moprim_commands_[12]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_qw", &hw_moprim_commands_[13]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_qw", &hw_moprim_commands_[13]));
   // Via Position commands for circula motion
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_x", &hw_moprim_commands_[14]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_y", &hw_moprim_commands_[15]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_z", &hw_moprim_commands_[16]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_via_x", &hw_moprim_commands_[14]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qx", &hw_moprim_commands_[17]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_via_y", &hw_moprim_commands_[15]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qy", &hw_moprim_commands_[18]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qz", &hw_moprim_commands_[19]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "pos_via_qw", &hw_moprim_commands_[20]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "pos_via_z", &hw_moprim_commands_[16]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "pos_via_qx", &hw_moprim_commands_[17]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "pos_via_qy", &hw_moprim_commands_[18]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "pos_via_qz", &hw_moprim_commands_[19]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "pos_via_qw", &hw_moprim_commands_[20]));
   // Other command parameters (blend_radius, velocity, acceleration, move_time)
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "blend_radius", &hw_moprim_commands_[21]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "blend_radius", &hw_moprim_commands_[21]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "velocity", &hw_moprim_commands_[22]));
-  command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "acceleration", &hw_moprim_commands_[23]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "velocity", &hw_moprim_commands_[22]));
+  command_interfaces.emplace_back(hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES,
+                                                                       "acceleration", &hw_moprim_commands_[23]));
   command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(HW_IF_MOTION_PRIMITIVES, "move_time", &hw_moprim_commands_[24]));
+      hardware_interface::CommandInterface(tf_prefix + HW_IF_MOTION_PRIMITIVES, "move_time", &hw_moprim_commands_[24]));
 
   return command_interfaces;
 }
@@ -1274,7 +1274,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
         { tf_prefix + PASSTHROUGH_GPIO + "/setpoint_positions_" + std::to_string(i), PASSTHROUGH_GPIO },
         { tf_prefix + FREEDRIVE_MODE_GPIO + "/async_success", FREEDRIVE_MODE_GPIO },
         { tf_prefix + TOOL_CONTACT_GPIO + "/tool_contact_set_state", TOOL_CONTACT_GPIO },
-        { HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES },
+        { tf_prefix + HW_IF_MOTION_PRIMITIVES + "/motion_type", HW_IF_MOTION_PRIMITIVES },
       };
 
       for (auto& item : start_modes_to_check) {

From 3523225a6161e2e799bd9379f3848e362ba49c23 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 21 Jul 2025 10:29:57 +0200
Subject: [PATCH 82/99] argument_name --> name, argument_value --> value

---
 .../send_dummy_motion_primitives_ur10e.py     | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
index 81ff23065..910667889 100755
--- a/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
+++ b/ur_robot_driver/examples/send_dummy_motion_primitives_ur10e.py
@@ -53,17 +53,17 @@
 moveJ_1.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_1.blend_radius = 0.1
 moveJ_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=joint_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=joint_acceleration),
-    MotionArgument(argument_name="move_time", argument_value=move_time),
+    MotionArgument(name="velocity", value=joint_velocity),
+    MotionArgument(name="acceleration", value=joint_acceleration),
+    MotionArgument(name="move_time", value=move_time),
 ]
 # Linear movement down
 moveL_1 = MotionPrimitive()
 moveL_1.type = MotionPrimitive.LINEAR_CARTESIAN
 moveL_1.blend_radius = 0.05
 moveL_1.additional_arguments = [
-    MotionArgument(argument_name="velocity", argument_value=cart_velocity),
-    MotionArgument(argument_name="acceleration", argument_value=cart_acceleration),
+    MotionArgument(name="velocity", value=cart_velocity),
+    MotionArgument(name="acceleration", value=cart_acceleration),
 ]
 pose_L1 = PoseStamped()
 pose_L1.pose.position.x = 0.174
@@ -129,63 +129,63 @@
 moveJ_eval_0.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_eval_0.blend_radius = eval_blend_radius
 moveJ_eval_0.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_1 = MotionPrimitive()
 moveJ_eval_1.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_1.joint_positions = [1.57, -1.1, 1.0, -1.57, -1.57, -1.57]
 moveJ_eval_1.blend_radius = eval_blend_radius
 moveJ_eval_1.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_2 = MotionPrimitive()
 moveJ_eval_2.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_2.joint_positions = [2.0, -0.9, 0.7, -1.57, -1.57, -1.57]
 moveJ_eval_2.blend_radius = eval_blend_radius
 moveJ_eval_2.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_3 = MotionPrimitive()
 moveJ_eval_3.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_3.joint_positions = [2.4, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_eval_3.blend_radius = eval_blend_radius
 moveJ_eval_3.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_4 = MotionPrimitive()
 moveJ_eval_4.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_4.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_eval_4.blend_radius = eval_blend_radius
 moveJ_eval_4.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_5 = MotionPrimitive()
 moveJ_eval_5.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_5.joint_positions = [1.57, -1.1, 1.0, -1.57, -1.57, -1.57]
 moveJ_eval_5.blend_radius = eval_blend_radius
 moveJ_eval_5.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_6 = MotionPrimitive()
 moveJ_eval_6.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_6.joint_positions = [1.1, -0.9, 0.7, -1.57, -1.57, -1.57]
 moveJ_eval_6.blend_radius = eval_blend_radius
 moveJ_eval_6.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_7 = MotionPrimitive()
 moveJ_eval_7.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_7.joint_positions = [0.7, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_eval_7.blend_radius = eval_blend_radius
 moveJ_eval_7.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 moveJ_eval_8 = MotionPrimitive()
 moveJ_eval_8.type = MotionPrimitive.LINEAR_JOINT
 moveJ_eval_8.joint_positions = [1.57, -1.57, 1.57, -1.57, -1.57, -1.57]
 moveJ_eval_8.blend_radius = eval_blend_radius
 moveJ_eval_8.additional_arguments = [
-    MotionArgument(argument_name="move_time", argument_value=eval_move_time),
+    MotionArgument(name="move_time", value=eval_move_time),
 ]
 
 

From 265909d605fb7aabdbf2349fff8bc54b605b993b Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 09:47:32 +0200
Subject: [PATCH 83/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md     |  39 ++++--------------
 ...m_forward_controller_ur_demo_thumbnail.png | Bin 0 -> 917635 bytes
 .../motion_primitive_demo_video_preview.png   | Bin 473637 -> 0 bytes
 3 files changed, 8 insertions(+), 31 deletions(-)
 create mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/moprim_forward_controller_ur_demo_thumbnail.png
 delete mode 100644 ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 9fe6fa973..02e2cfd9c 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -5,18 +5,11 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 
 ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
 
-# Demo Video with URSim
-[![Play Video](doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png)](https://www.youtube.com/watch?v=htUJtfkgr6Q)
-
-# Related packages/ repos
-- [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action)
-- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
-- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
-- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)
-
+# Demo Video with motion_primitives_forward_controller
+[![Play Video](doc/motion_primitive_ur_driver/moprim_forward_controller_ur_demo_thumbnail.png)](https://youtu.be/SKz6LFvJmhQ)
 
 # Architecture
-
+**with motion_primitives_forward_controller**
 ![Architecture Overview](doc/motion_primitive_ur_driver/ros2_control_motion_primitives_ur.drawio.png)
 
 # Command and State Interfaces
@@ -104,20 +97,20 @@ ros2 run ur_client_library start_ursim.sh -m ur10e
 Remote control needs to be enabled:
 https://robodk.com/doc/en/Robots-Universal-Robots-How-enable-Remote-Control-URe.html
 
-## Launch hardware_interface with motion_primitives_ur_driver
-With URSim:
+## With motion_primitives_forward_controller
+**With URSim:**
 ```
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_forward_controller
 ```
-With H-KA UR10e:
+**With H-KA UR10e:**
 ```
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true headless_mode:=true initial_joint_controller:=motion_primitive_forward_controller
 ```
-## (optional) switching control mode
+**(optional) switching control mode**
 ```
 ros2 control switch_controllers --activate motion_primitive_forward_controller --deactivate scaled_joint_trajectory_controller
 ```
-## Send motion primitives
+**Send motion primitives from python script**
 > [!WARNING]
 > Ensure that the robot in your configuration is able to execute these motion primitives without any risk of collision.
 ```
@@ -127,19 +120,3 @@ During the execution of the motion primitives, the movement can be stopped by pr
 
 # TODOs/ Improvements
 - if trajectory is finished while `instruction_executer->cancelMotion()` is called --> returns with execution_status ERROR --> no new command can be sent to hw-interface --> need to call `instruction_executer->cancelMotion()` a second time
-- The default `hardware_interface` implementation and the `InstructionExecutor` used to execute motion primitives both rely on a callback function that is triggered when a trajectory is completed. In the current implementation, the callback function of the `ur_driver` is overwritten, meaning that only one of the callback functions can be active at a time. This issue has been addressed by registering the `InstructionExecutor`'s callback when motion primitives mode is activated, and restoring the `hardware_interface`'s callback when the mode is deactivated. To enable this, a method `registerTrajDoneCallback()` was added to the `InstructionExecutor` in the `ur_client_library`:
-```cpp
-  void urcl::InstructionExecutor::registerTrajDoneCallback()
-  {
-    driver_->registerTrajectoryDoneCallback(
-        std::bind(&InstructionExecutor::trajDoneCallback, this, std::placeholders::_1));
-  }
-```
---> Is there a better solution for this?
-
-# Useful sources
-- https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture/instruction_executor.html
-- https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/examples/instruction_executor.html
-- https://rtw.b-robotized.com/master/use-cases/ros_workspaces/aliases.html
-- https://control.ros.org/master/doc/ros2_control/ros2controlcli/doc/userdoc.html
-- ...
diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/moprim_forward_controller_ur_demo_thumbnail.png b/ur_robot_driver/doc/motion_primitive_ur_driver/moprim_forward_controller_ur_demo_thumbnail.png
new file mode 100644
index 0000000000000000000000000000000000000000..008702d4d54c729f10a802cbff2eeb2b12ab96df
GIT binary patch
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diff --git a/ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png b/ur_robot_driver/doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png
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From bc4bffd41773935cfd27fe8a6cc65b6d52c39f35 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 09:51:42 +0200
Subject: [PATCH 84/99] Changed back Universal_Robots_Client_Library in
 rolling.repos because
 https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/359
 got merged

---
 Universal_Robots_ROS2_Driver.rolling.repos | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos
index c257efffb..ac25469f2 100644
--- a/Universal_Robots_ROS2_Driver.rolling.repos
+++ b/Universal_Robots_ROS2_Driver.rolling.repos
@@ -1,10 +1,8 @@
 repositories:
   Universal_Robots_Client_Library:
     type: git
-    url: https://github.com/urfeex/Universal_Robots_Client_Library.git
-    version: callback_lists
-    # url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
-    # version: master
+    url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
+    version: master
   Universal_Robots_ROS2_Description:
     type: git
     url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git

From 8cb1eebc84875688d419ad17b3410dd45f5284fa Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 09:57:36 +0200
Subject: [PATCH 85/99] fixed bsd-3 license link in readme

---
 ur_robot_driver/README_MotionPrimitive.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 02e2cfd9c..5d4d00d09 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -3,7 +3,7 @@ hardware_interface in motion primitives mode
 
 Hardware interface for executing motion primitives on a UR robot using the ROS 2 control framework. It allows the controller to execute linear (LINEAR_CARTESIAN/ LIN/ MOVEL), circular (CIRCULAR_CARTESIAN/ CIRC/ MOVEC), and joint-based (LINEAR_JOINT/ PTP/ MOVEJ) motion commands asynchronously and supports motion sequences for smooth trajectory execution.
 
-![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg)
+[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 # Demo Video with motion_primitives_forward_controller
 [![Play Video](doc/motion_primitive_ur_driver/moprim_forward_controller_ur_demo_thumbnail.png)](https://youtu.be/SKz6LFvJmhQ)

From 0cc909f102bdc6a0107d558d5995c67a31c07dd9 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 10:02:02 +0200
Subject: [PATCH 86/99] removed second
 ur_driver_->registerToolContactResultCallback()

---
 ur_robot_driver/src/hardware_interface.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index bdf0df0db..bda1e866d 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -732,9 +732,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
   ur_driver_->registerToolContactResultCallback(
       std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));
 
-  ur_driver_->registerToolContactResultCallback(
-      std::bind(&URPositionHardwareInterface::tool_contact_callback, this, std::placeholders::_1));
-
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 

From db0754f6e57a6fb51829fa87aa64669b941789d0 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 11:38:56 +0200
Subject: [PATCH 87/99] removed stop thread

---
 .../ur_robot_driver/hardware_interface.hpp    |  7 --
 ur_robot_driver/src/hardware_interface.cpp    | 91 ++++---------------
 2 files changed, 19 insertions(+), 79 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index f4e2c1d09..d0bb9ddc5 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -291,16 +291,12 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   // Async thread handling
   std::shared_ptr<std::thread> async_moprim_cmd_thread_;
-  std::shared_ptr<std::thread> async_moprim_stop_thread_;
   std::atomic_bool async_moprim_thread_shutdown_;
   std::mutex moprim_cmd_mutex_;
-  std::mutex moprim_stop_mutex_;
 
   // Command buffer for thread-safe communication
   std::vector<double> pending_moprim_cmd_;
   std::atomic_bool new_moprim_cmd_available_;
-  std::atomic_bool new_moprim_stop_available_;
-  std::atomic_bool new_moprim_reset_available_;
 
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
@@ -319,10 +315,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void handleMoprimCommands();
   void resetMoprimCmdInterfaces();
   void asyncMoprimCmdThread();
-  void asyncMoprimStopThread();
   void processMoprimMotionCmd(const std::vector<double>& command);
-  void processMoprimStopCmd();
-  void processMoprimResetCmd();
   bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
                                 double& move_time);
   bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index bda1e866d..b416f781b 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -148,8 +148,6 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   // Motion primitives stuff
   async_moprim_thread_shutdown_ = false;
   new_moprim_cmd_available_ = false;
-  new_moprim_stop_available_ = false;
-  new_moprim_reset_available_ = false;
   current_moprim_execution_status_ = MoprimExecutionState::IDLE;
   ready_for_new_moprim_ = false;
   motion_primitives_forward_controller_running_ = false;
@@ -722,7 +720,6 @@ URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State& previou
 
   // Start async thread for sending motion primitives
   async_moprim_cmd_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimCmdThread, this);
-  async_moprim_stop_thread_ = std::make_shared<std::thread>(&URPositionHardwareInterface::asyncMoprimStopThread, this);
 
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "System successfully started!");
 
@@ -778,11 +775,6 @@ hardware_interface::CallbackReturn URPositionHardwareInterface::stop()
     async_moprim_cmd_thread_->join();
     async_moprim_cmd_thread_.reset();
   }
-  if (async_moprim_stop_thread_) {
-    async_moprim_thread_shutdown_ = true;
-    async_moprim_stop_thread_->join();
-    async_moprim_stop_thread_.reset();
-  }
 
   ur_driver_.reset();
 
@@ -1590,12 +1582,18 @@ void URPositionHardwareInterface::check_passthrough_trajectory_controller()
 
 void URPositionHardwareInterface::trajectory_done_callback(urcl::control::TrajectoryResult result)
 {
+  RCLCPP_INFO(get_logger(), "Trajectory done callback called with result: %d", static_cast<int>(result));
   if (result == urcl::control::TrajectoryResult::TRAJECTORY_RESULT_FAILURE) {
     passthrough_trajectory_abort_ = 1.0;
   } else {
     passthrough_trajectory_abort_ = 0.0;
   }
   passthrough_trajectory_transfer_state_ = 5.0;
+
+  if (result == urcl::control::TrajectoryResult::TRAJECTORY_RESULT_CANCELED) {
+    RCLCPP_INFO(get_logger(), "Robot stopped, TRAJECTORY_RESULT_CANCELED");
+    current_moprim_execution_status_ = MoprimExecutionState::STOPPED;
+  }
   return;
 }
 
@@ -1616,20 +1614,22 @@ void URPositionHardwareInterface::handleMoprimCommands()
     switch (static_cast<uint8_t>(hw_moprim_commands_[0])) {
       case static_cast<uint8_t>(MoprimMotionHelperType::STOP_MOTION):
       {
-        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-        if (!new_moprim_stop_available_) {
-          new_moprim_stop_available_ = true;
-          resetMoprimCmdInterfaces();
-        }
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received Motion Primitives STOP command");
+        resetMoprimCmdInterfaces();
+        build_moprim_sequence_ = false;
+        moprim_sequence_.clear(); // delete motion sequence
+        ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_CANCEL, -1,
+                                           urcl::RobotReceiveTimeout::millisec(2000));
+        current_moprim_execution_status_ = MoprimExecutionState::STOPPING;
+        ready_for_new_moprim_ = false;
         break;
       }
       case static_cast<uint8_t>(MoprimMotionHelperType::RESET_STOP):
       {
-        std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-        if (!new_moprim_reset_available_) {
-          new_moprim_reset_available_ = true;
-          resetMoprimCmdInterfaces();
-        }
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received RESET_STOP command");
+        resetMoprimCmdInterfaces();
+        current_moprim_execution_status_ = MoprimExecutionState::IDLE;
+        ready_for_new_moprim_ = true;  // set to true to allow sending new commands
         break;
       }
       default:
@@ -1656,58 +1656,6 @@ void URPositionHardwareInterface::resetMoprimCmdInterfaces()
   std::fill(hw_moprim_commands_.begin(), hw_moprim_commands_.end(), std::numeric_limits<double>::quiet_NaN());
 }
 
-void URPositionHardwareInterface::asyncMoprimStopThread()
-{
-  while (!async_moprim_thread_shutdown_) {
-    if (new_moprim_stop_available_) {
-      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-      new_moprim_stop_available_ = false;
-      processMoprimStopCmd();
-    } else if (new_moprim_reset_available_) {
-      std::lock_guard<std::mutex> guard(moprim_stop_mutex_);
-      new_moprim_reset_available_ = false;
-      processMoprimResetCmd();
-    }
-    // Small sleep to prevent busy waiting
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-  }
-  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimStopThread] Exiting");
-}
-
-void URPositionHardwareInterface::processMoprimStopCmd()
-{
-  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received Motion Primitives STOP command");
-  // delete motion sequence
-  build_moprim_sequence_ = false;
-  moprim_sequence_.clear();
-
-  if (instruction_executor_->isTrajectoryRunning()) {
-    RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Stopping motion ...");
-    if (!instruction_executor_->cancelMotion()) {
-      RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to stop motion");
-      current_moprim_execution_status_ = MoprimExecutionState::ERROR;
-    } else {
-      RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Motion stopped successfully");
-      current_moprim_execution_status_ = MoprimExecutionState::STOPPED;
-      ready_for_new_moprim_ = false;
-    }
-  } else {
-    RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "No motion to stop");
-    current_moprim_execution_status_ = MoprimExecutionState::STOPPED;
-    ready_for_new_moprim_ = false;
-  }
-  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-              " [processMoprimStopCmd] After executing stop: current_moprim_execution_status_ = %d",
-              static_cast<uint8_t>(current_moprim_execution_status_));
-}
-
-void URPositionHardwareInterface::processMoprimResetCmd()
-{
-  RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received RESET_STOP command");
-  current_moprim_execution_status_ = MoprimExecutionState::IDLE;
-  ready_for_new_moprim_ = true;  // set to true to allow sending new commands
-}
-
 void URPositionHardwareInterface::asyncMoprimCmdThread()
 {
   while (!async_moprim_thread_shutdown_) {
@@ -1745,8 +1693,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
       case static_cast<uint8_t>(MoprimMotionHelperType::MOTION_SEQUENCE_START):
       {
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received MOTION_SEQUENCE_START: add all "
-                                                                       "following "
-                                                                       "commands to the motion sequence.");
+                                                                       "following commands to the motion sequence.");
         build_moprim_sequence_ = true;  // set flag to put all following commands into the motion sequence
         moprim_sequence_.clear();
         ready_for_new_moprim_ = true;  // set to true to allow sending new commands

From 5cae5251497b9959fb8488bb6a4de819c0a3403e Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 12:07:09 +0200
Subject: [PATCH 88/99] changed implementation for
 current_moprim_execution_status_ after instruction_executor_ execution is
 done

---
 ur_robot_driver/src/hardware_interface.cpp | 20 ++++----------------
 1 file changed, 4 insertions(+), 16 deletions(-)

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index b416f781b..56be40ddc 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -1708,12 +1708,9 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
         build_moprim_sequence_ = false;
         current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
         bool success = instruction_executor_->executeMotion(moprim_sequence_);
-        current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
-        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-                    " [processMoprimMotionCmd] After executing motion sequence: current_moprim_execution_status_ = %d",
-                    static_cast<uint8_t>(current_moprim_execution_status_));
         moprim_sequence_.clear();
         if (success) {
+          current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
           ready_for_new_moprim_ = true;  // set to true to allow sending new commands
         }
         return;
@@ -1760,11 +1757,8 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
                       joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
                       joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
           bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
-          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-                      " [processMoprimMotionCmd] After executing moveJ: current_moprim_execution_status_ = %d",
-                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
+            current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;
@@ -1815,11 +1809,8 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
                       pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
                       blend_radius);
           bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
-          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-                      " [processMoprimMotionCmd] After executing moveL: current_moprim_execution_status_ = %d",
-                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
+            current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;
@@ -1881,11 +1872,8 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<doubl
                       goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
                       blend_radius, mode);
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
-          current_moprim_execution_status_ = success ? MoprimExecutionState::SUCCESS : MoprimExecutionState::ERROR;
-          RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"),
-                      " [processMoprimMotionCmd] After executing moveC: current_moprim_execution_status_ = %d",
-                      static_cast<uint8_t>(current_moprim_execution_status_));
           if (success) {
+            current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
             ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;

From 87f6551b1998d901180c94ebd8c9677686638ace Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 13:45:18 +0200
Subject: [PATCH 89/99] =?UTF-8?q?Replaced=20moprim=5Fcmd=5Fmutex=5F=20with?=
 =?UTF-8?q?=20realtime=5Ftools::LockFreeSPSCQueue<std::array<double,=2025>?=
 =?UTF-8?q?,=201>=20=E2=86=92=20therefore=20changed=20command=20and=20stat?=
 =?UTF-8?q?e=20interfaces=20from=20std::vector<double>=20to=20std::array<d?=
 =?UTF-8?q?ouble,=2025>.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../ur_robot_driver/hardware_interface.hpp    | 22 ++++++-----
 ur_robot_driver/src/hardware_interface.cpp    | 38 +++++++++----------
 2 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index d0bb9ddc5..5114e1271 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -48,6 +48,7 @@
 #include <string>
 #include <unordered_map>
 #include <vector>
+#include <array>
 
 // ros2_control hardware_interface
 #include "hardware_interface/hardware_info.hpp"
@@ -67,10 +68,11 @@
 #include "rclcpp_lifecycle/state.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "control_msgs/msg/motion_primitive.hpp"
+#include <realtime_tools/lock_free_queue.hpp>
 
 // Motion primitives controller
 #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
-#include "control_msgs/msg/motion_primitive.hpp"
 
 using MoprimMotionType = control_msgs::msg::MotionPrimitive;
 using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
@@ -292,10 +294,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // Async thread handling
   std::shared_ptr<std::thread> async_moprim_cmd_thread_;
   std::atomic_bool async_moprim_thread_shutdown_;
-  std::mutex moprim_cmd_mutex_;
-
-  // Command buffer for thread-safe communication
-  std::vector<double> pending_moprim_cmd_;
+  realtime_tools::LockFreeSPSCQueue<std::array<double, 25>, 1> moprim_cmd_queue_;
   std::atomic_bool new_moprim_cmd_available_;
 
   // Status for communication with controller
@@ -305,8 +304,11 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   std::atomic_bool ready_for_new_moprim_;
 
   // Command and state interfaces for the motion primitives
-  std::vector<double> hw_moprim_commands_;
-  std::vector<double> hw_moprim_states_;
+  // 25 Commands: motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration +
+  // move_time
+  std::array<double, 25> hw_moprim_commands_;
+  // 2 States: execution_status, ready_for_new_primitive
+  std::array<double, 2> hw_moprim_states_;
 
   // flag to put all following primitives into a motion sequence instead of sending single primitives
   std::atomic_bool build_moprim_sequence_{ false };
@@ -315,10 +317,10 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   void handleMoprimCommands();
   void resetMoprimCmdInterfaces();
   void asyncMoprimCmdThread();
-  void processMoprimMotionCmd(const std::vector<double>& command);
-  bool getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
+  void processMoprimMotionCmd(const std::array<double, 25>& command);
+  bool getMoprimTimeOrVelAndAcc(const std::array<double, 25>& command, double& velocity, double& acceleration,
                                 double& move_time);
-  bool getMoprimVelAndAcc(const std::vector<double>& command, double& velocity, double& acceleration,
+  bool getMoprimVelAndAcc(const std::array<double, 25>& command, double& velocity, double& acceleration,
                           double& move_time);
   void quaternionToRotVec(double qx, double qy, double qz, double qw, double& rx, double& ry, double& rz);
 
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 56be40ddc..66fdf34d2 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -151,11 +151,8 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   current_moprim_execution_status_ = MoprimExecutionState::IDLE;
   ready_for_new_moprim_ = false;
   motion_primitives_forward_controller_running_ = false;
-  // 2 States: execution_status, ready_for_new_primitive
-  hw_moprim_states_.resize(2, std::numeric_limits<double>::quiet_NaN());
-  // 25 Commands: // motion_type + 6 joints + 2*7 positions (goal and via) + blend_radius + velocity + acceleration +
-  // move_time
-  hw_moprim_commands_.resize(25, std::numeric_limits<double>::quiet_NaN());
+  hw_moprim_states_.fill(std::numeric_limits<double>::quiet_NaN());
+  hw_moprim_commands_.fill(std::numeric_limits<double>::quiet_NaN());
 
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
     if (joint.command_interfaces.size() != 2) {
@@ -1617,9 +1614,9 @@ void URPositionHardwareInterface::handleMoprimCommands()
         RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received Motion Primitives STOP command");
         resetMoprimCmdInterfaces();
         build_moprim_sequence_ = false;
-        moprim_sequence_.clear(); // delete motion sequence
+        moprim_sequence_.clear();  // delete motion sequence
         ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_CANCEL, -1,
-                                           urcl::RobotReceiveTimeout::millisec(2000));
+                                                  urcl::RobotReceiveTimeout::millisec(2000));
         current_moprim_execution_status_ = MoprimExecutionState::STOPPING;
         ready_for_new_moprim_ = false;
         break;
@@ -1634,10 +1631,12 @@ void URPositionHardwareInterface::handleMoprimCommands()
       }
       default:
       {
-        std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
         if (!new_moprim_cmd_available_) {
-          // Copy command to thread-safe buffer
-          pending_moprim_cmd_ = hw_moprim_commands_;
+          // Push command to thread-safe queue
+          if (!moprim_cmd_queue_.push(hw_moprim_commands_)) {
+            RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to push command to "
+                                                                            "moprim_cmd_queue_");
+          }
           new_moprim_cmd_available_ = true;
           resetMoprimCmdInterfaces();
         }
@@ -1661,13 +1660,12 @@ void URPositionHardwareInterface::asyncMoprimCmdThread()
   while (!async_moprim_thread_shutdown_) {
     // Check for new commands
     if (new_moprim_cmd_available_) {
-      // RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimCmdThread] New command available");
-      std::vector<double> current_command;
-      {
-        std::lock_guard<std::mutex> guard(moprim_cmd_mutex_);
-        current_command = pending_moprim_cmd_;
-        new_moprim_cmd_available_ = false;
+      std::array<double, 25> current_command;
+      if (!moprim_cmd_queue_.pop(current_command)) {
+        RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to pop the command from "
+                                                                        "moprim_cmd_queue_.");
       }
+      new_moprim_cmd_available_ = false;
 
       // Process the command
       processMoprimMotionCmd(current_command);
@@ -1679,9 +1677,9 @@ void URPositionHardwareInterface::asyncMoprimCmdThread()
   RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "[asyncMoprimCmdThread] Exiting");
 }
 
-void URPositionHardwareInterface::processMoprimMotionCmd(const std::vector<double>& command)
+void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double, 25>& command)
 {
-  if (command.empty() || std::isnan(command[0])) {
+  if (std::isnan(command[0])) {
     return;
   }
   double velocity, acceleration, move_time;
@@ -1906,7 +1904,7 @@ void URPositionHardwareInterface::quaternionToRotVec(double qx, double qy, doubl
   rz = axis.z() * angle;  // rz
 }
 
-bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<double>& command, double& velocity,
+bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::array<double, 25>& command, double& velocity,
                                                            double& acceleration, double& move_time)
 {
   // Check if move_time is valid
@@ -1931,7 +1929,7 @@ bool URPositionHardwareInterface::getMoprimTimeOrVelAndAcc(const std::vector<dou
   }
 }
 
-bool URPositionHardwareInterface::getMoprimVelAndAcc(const std::vector<double>& command, double& velocity,
+bool URPositionHardwareInterface::getMoprimVelAndAcc(const std::array<double, 25>& command, double& velocity,
                                                      double& acceleration, double& move_time)
 {
   // Check if velocity and acceleration are valid

From 94e83be8c0e419a53d9ea0c0a49bffa47bc64623 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Tue, 29 Jul 2025 14:43:49 +0200
Subject: [PATCH 90/99] wrapped current_moprim_execution_status_ into an
 std::atomic<>

---
 ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp | 2 +-
 ur_robot_driver/src/hardware_interface.cpp                     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 5114e1271..fe79d1e4c 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -300,7 +300,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
   using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
-  MoprimExecutionState current_moprim_execution_status_;
+  std::atomic<MoprimExecutionState> current_moprim_execution_status_;
   std::atomic_bool ready_for_new_moprim_;
 
   // Command and state interfaces for the motion primitives
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 66fdf34d2..904bb6fca 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -909,7 +909,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     updateNonDoubleValues();
 
     // Motion primitives stuff
-    hw_moprim_states_[0] = static_cast<uint8_t>(current_moprim_execution_status_);
+    hw_moprim_states_[0] = static_cast<uint8_t>(current_moprim_execution_status_.load());
     hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
 
     return hardware_interface::return_type::OK;

From a54098652a4dacfbafce6637f36b1448393df95a Mon Sep 17 00:00:00 2001
From: Mathias Fuhrer <148789048+mathias31415@users.noreply.github.com>
Date: Wed, 30 Jul 2025 09:19:54 +0200
Subject: [PATCH 91/99] Updated link for MoveC modes

Co-authored-by: Felix Exner <feex@universal-robots.com>
---
 ur_robot_driver/src/hardware_interface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 904bb6fca..4f5f01eae 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -1829,7 +1829,7 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
         }
 
         // 0: Unconstrained mode, 1: Fixed mode
-        // (https://tools.pages.cba.mit.edu/Universal_Robotics_UR10_Robot_Arm/scriptManual-3.5.4.pdf)
+        // (https://www.universal-robots.com/manuals/EN/HTML/SW5_22/Content/prod-scriptmanual/all_scripts/movec_pose_via_pose_toa1.htm)
         int32_t mode = 0;
 
         // Get velocity and acceleration)

From c8973f0abde2e08c9004b03a8d91d0a2d9b5a7a3 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 30 Jul 2025 09:28:54 +0200
Subject: [PATCH 92/99] removed "Author modifications: Mathias Fuhrer" in
 launchfile

---
 ur_robot_driver/launch/ur_control.launch.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 71763f50b..6dd07d17f 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -28,8 +28,6 @@
 
 #
 # Author: Denis Stogl
-#
-# Author modifications: Mathias Fuhrer
 
 from launch import LaunchDescription
 from launch.actions import (

From b4147563f08ed3570c12ce3fae48a20d5c609f3c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 30 Jul 2025 09:29:38 +0200
Subject: [PATCH 93/99] changed headless_mode default value back to false

---
 ur_robot_driver/launch/ur_control.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 6dd07d17f..62e74f686 100644
--- a/ur_robot_driver/launch/ur_control.launch.py
+++ b/ur_robot_driver/launch/ur_control.launch.py
@@ -324,7 +324,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "headless_mode",
-            default_value="true",
+            default_value="false",
             description="Enable headless mode for robot control",
         )
     )

From e0066d186274652b8fe956da0232a5f382b17234 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 30 Jul 2025 16:40:02 +0200
Subject: [PATCH 94/99] removed new_moprim_cmd_available_

---
 .../ur_robot_driver/hardware_interface.hpp    |  4 +-
 ur_robot_driver/src/hardware_interface.cpp    | 38 +++++--------------
 2 files changed, 12 insertions(+), 30 deletions(-)

diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index fe79d1e4c..688cc9008 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -294,8 +294,8 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // Async thread handling
   std::shared_ptr<std::thread> async_moprim_cmd_thread_;
   std::atomic_bool async_moprim_thread_shutdown_;
-  realtime_tools::LockFreeSPSCQueue<std::array<double, 25>, 1> moprim_cmd_queue_;
-  std::atomic_bool new_moprim_cmd_available_;
+  realtime_tools::LockFreeSPSCQueue<std::array<double, 25>, 1024> moprim_cmd_queue_;
+  std::array<double, 25> current_moprim_command_;
 
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index 4f5f01eae..a57c604ba 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -147,7 +147,6 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
 
   // Motion primitives stuff
   async_moprim_thread_shutdown_ = false;
-  new_moprim_cmd_available_ = false;
   current_moprim_execution_status_ = MoprimExecutionState::IDLE;
   ready_for_new_moprim_ = false;
   motion_primitives_forward_controller_running_ = false;
@@ -1631,15 +1630,15 @@ void URPositionHardwareInterface::handleMoprimCommands()
       }
       default:
       {
-        if (!new_moprim_cmd_available_) {
-          // Push command to thread-safe queue
-          if (!moprim_cmd_queue_.push(hw_moprim_commands_)) {
-            RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to push command to "
-                                                                            "moprim_cmd_queue_");
-          }
-          new_moprim_cmd_available_ = true;
-          resetMoprimCmdInterfaces();
+        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received moprim command");
+        // Push command to thread-safe queue
+        if (!moprim_cmd_queue_.push(hw_moprim_commands_)) {
+          RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to push command to "
+                                                                          "moprim_cmd_queue_");
+          return;
         }
+        resetMoprimCmdInterfaces();
+        ready_for_new_moprim_ = true;  // set to true to allow sending new commands
         break;
       }
     }
@@ -1659,18 +1658,9 @@ void URPositionHardwareInterface::asyncMoprimCmdThread()
 {
   while (!async_moprim_thread_shutdown_) {
     // Check for new commands
-    if (new_moprim_cmd_available_) {
-      std::array<double, 25> current_command;
-      if (!moprim_cmd_queue_.pop(current_command)) {
-        RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to pop the command from "
-                                                                        "moprim_cmd_queue_.");
-      }
-      new_moprim_cmd_available_ = false;
-
-      // Process the command
-      processMoprimMotionCmd(current_command);
+    if (moprim_cmd_queue_.pop(current_moprim_command_)) {
+      processMoprimMotionCmd(current_moprim_command_);
     }
-
     // Small sleep to prevent busy waiting
     std::this_thread::sleep_for(std::chrono::milliseconds(10));
   }
@@ -1694,7 +1684,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
                                                                        "following commands to the motion sequence.");
         build_moprim_sequence_ = true;  // set flag to put all following commands into the motion sequence
         moprim_sequence_.clear();
-        ready_for_new_moprim_ = true;  // set to true to allow sending new commands
         return;
       }
 
@@ -1709,7 +1698,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
         moprim_sequence_.clear();
         if (success) {
           current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
-          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
         }
         return;
       }
@@ -1745,7 +1733,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       joint_positions[0], joint_positions[1], joint_positions[2], joint_positions[3],
                       joint_positions[4], joint_positions[5], velocity, acceleration, move_time, blend_radius);
-          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
           current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
@@ -1757,7 +1744,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
           bool success = instruction_executor_->moveJ(joint_positions, acceleration, velocity, move_time, blend_radius);
           if (success) {
             current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
-            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;
         }
@@ -1797,7 +1783,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
                       "velocity: %f, acceleration: %f, move_time: %f, blend_radius: %f",
                       pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz, velocity, acceleration, move_time,
                       blend_radius);
-          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
           current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
@@ -1809,7 +1794,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
           bool success = instruction_executor_->moveL(pose, acceleration, velocity, move_time, blend_radius);
           if (success) {
             current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
-            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;
         }
@@ -1858,7 +1842,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
                       via_pose.x, via_pose.y, via_pose.z, via_pose.rx, via_pose.ry, via_pose.rz, goal_pose.x,
                       goal_pose.y, goal_pose.z, goal_pose.rx, goal_pose.ry, goal_pose.rz, velocity, acceleration,
                       blend_radius, mode);
-          ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           return;
         } else {  // execute single primitive directly
           current_moprim_execution_status_ = MoprimExecutionState::EXECUTING;
@@ -1872,7 +1855,6 @@ void URPositionHardwareInterface::processMoprimMotionCmd(const std::array<double
           bool success = instruction_executor_->moveC(via_pose, goal_pose, acceleration, velocity, blend_radius, mode);
           if (success) {
             current_moprim_execution_status_ = MoprimExecutionState::SUCCESS;
-            ready_for_new_moprim_ = true;  // set to true to allow sending new commands
           }
           return;
         }

From 3220c768448165d68057c8badda379bbdfd1ef23 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 11 Aug 2025 09:18:29 +0200
Subject: [PATCH 95/99] added execution_status STOPPING to readme

---
 ur_robot_driver/README_MotionPrimitive.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index 5d4d00d09..b9eff33d2 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -40,6 +40,7 @@ These interfaces are used to communicate the internal status of the hardware int
   - `EXECUTING`: Currently executing a primitive
   - `SUCCESS`: Last command finished successfully
   - `ERROR`: An error occurred during execution
+  - `STOPPING`: The hardware interface has received the `STOP_MOTION` command, but the robot has not yet come to a stop.
   - `STOPPED`: The robot was stopped using the `STOP_MOTION` command and must be reset with the `RESET_STOP` command before executing new commands.
 - `ready_for_new_primitive`: Boolean flag indicating whether the interface is ready to receive a new motion primitive
 

From 789e960b27730131b59209cda8882dcb0e402ad6 Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Mon, 11 Aug 2025 17:57:37 +0200
Subject: [PATCH 96/99] Implemented the interface names fixed in the controller
 --> only tf_prefix is passed as param to moprim forward controller

---
 ur_robot_driver/config/ur_controllers.yaml | 31 ++--------------------
 1 file changed, 2 insertions(+), 29 deletions(-)

diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 8486ce817..382574352 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -194,32 +194,5 @@ tool_contact_controller:
 
 motion_primitive_forward_controller:
   ros__parameters:
-    command_interfaces:
-      - $(var tf_prefix)motion_primitive/motion_type
-      - $(var tf_prefix)motion_primitive/q1
-      - $(var tf_prefix)motion_primitive/q2
-      - $(var tf_prefix)motion_primitive/q3
-      - $(var tf_prefix)motion_primitive/q4
-      - $(var tf_prefix)motion_primitive/q5
-      - $(var tf_prefix)motion_primitive/q6
-      - $(var tf_prefix)motion_primitive/pos_x
-      - $(var tf_prefix)motion_primitive/pos_y
-      - $(var tf_prefix)motion_primitive/pos_z
-      - $(var tf_prefix)motion_primitive/pos_qx
-      - $(var tf_prefix)motion_primitive/pos_qy
-      - $(var tf_prefix)motion_primitive/pos_qz
-      - $(var tf_prefix)motion_primitive/pos_qw
-      - $(var tf_prefix)motion_primitive/pos_via_x
-      - $(var tf_prefix)motion_primitive/pos_via_y
-      - $(var tf_prefix)motion_primitive/pos_via_z
-      - $(var tf_prefix)motion_primitive/pos_via_qx
-      - $(var tf_prefix)motion_primitive/pos_via_qy
-      - $(var tf_prefix)motion_primitive/pos_via_qz
-      - $(var tf_prefix)motion_primitive/pos_via_qw
-      - $(var tf_prefix)motion_primitive/blend_radius
-      - $(var tf_prefix)motion_primitive/velocity
-      - $(var tf_prefix)motion_primitive/acceleration
-      - $(var tf_prefix)motion_primitive/move_time
-    state_interfaces:
-      - $(var tf_prefix)motion_primitive/execution_status
-      - $(var tf_prefix)motion_primitive/ready_for_new_primitive
+    tf_prefix: "$(var tf_prefix)"
+

From 7f9a782d62b336ec6a2a702f8aba9f27815e229c Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 13 Aug 2025 10:46:40 +0200
Subject: [PATCH 97/99] edited readme

---
 ur_robot_driver/README_MotionPrimitive.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ur_robot_driver/README_MotionPrimitive.md b/ur_robot_driver/README_MotionPrimitive.md
index b9eff33d2..5d9263afb 100644
--- a/ur_robot_driver/README_MotionPrimitive.md
+++ b/ur_robot_driver/README_MotionPrimitive.md
@@ -33,7 +33,7 @@ These interfaces are used to send motion primitive data to the hardware interfac
 
 ## State Interfaces
 
-These interfaces are used to communicate the internal status of the hardware interface back to the [`motion_primitives_forward_controller`](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller):
+These interfaces are used to communicate the internal status of the hardware interface back to the controller.
 
 - `execution_status`: Indicates the current execution state of the primitive. Possible values are:
   - `IDLE`: No motion in progress

From 9308f22ea43b71a7b5cb9ae028ef53148778dcdc Mon Sep 17 00:00:00 2001
From: mathias31415 <mathias31415@gmx.de>
Date: Wed, 10 Sep 2025 10:35:45 +0200
Subject: [PATCH 98/99] renamed motion_primitives_forward_controller package to
 motion_primitives_controllers

---
 ur_robot_driver/CMakeLists.txt                            | 4 ++--
 ur_robot_driver/config/ur_controllers.yaml                | 2 +-
 .../include/ur_robot_driver/hardware_interface.hpp        | 8 ++++----
 ur_robot_driver/package.xml                               | 2 +-
 ur_robot_driver/src/hardware_interface.cpp                | 4 ++--
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/ur_robot_driver/CMakeLists.txt b/ur_robot_driver/CMakeLists.txt
index 15c810594..b476ef6a7 100644
--- a/ur_robot_driver/CMakeLists.txt
+++ b/ur_robot_driver/CMakeLists.txt
@@ -38,7 +38,7 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
-find_package(motion_primitives_forward_controller REQUIRED)
+find_package(motion_primitives_controllers REQUIRED)
 find_package(control_msgs REQUIRED)
 
 include_directories(include)
@@ -64,7 +64,7 @@ target_link_libraries(ur_robot_driver_plugin PUBLIC
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
   ur_client_library::urcl
-  motion_primitives_forward_controller::motion_primitives_forward_controller
+  motion_primitives_controllers::motion_primitives_controllers
 )
 target_include_directories(
   ur_robot_driver_plugin
diff --git a/ur_robot_driver/config/ur_controllers.yaml b/ur_robot_driver/config/ur_controllers.yaml
index 382574352..4962d8935 100644
--- a/ur_robot_driver/config/ur_controllers.yaml
+++ b/ur_robot_driver/config/ur_controllers.yaml
@@ -51,7 +51,7 @@ controller_manager:
     enforce_command_limits: false
 
     motion_primitive_forward_controller:
-      type: motion_primitives_forward_controller/MotionPrimitivesForwardController
+      type: motion_primitives_controllers/MotionPrimitivesForwardController
 
 speed_scaling_state_broadcaster:
   ros__parameters:
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
index 688cc9008..f57082d02 100644
--- a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
+++ b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -35,7 +35,7 @@
  * \date    2019-04-11
  *
  * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
- * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * \date    2025-05-28 – Added support for usage with motion_primitives_controller
  *
  */
 //----------------------------------------------------------------------
@@ -72,10 +72,10 @@
 #include <realtime_tools/lock_free_queue.hpp>
 
 // Motion primitives controller
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "motion_primitives_controllers/motion_primitives_forward_controller.hpp"
 
 using MoprimMotionType = control_msgs::msg::MotionPrimitive;
-using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
+using MoprimMotionHelperType = motion_primitives_controllers::MotionHelperType;
 
 namespace ur_robot_driver
 {
@@ -299,7 +299,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
 
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
-  using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
+  using MoprimExecutionState = motion_primitives_controllers::ExecutionState;
   std::atomic<MoprimExecutionState> current_moprim_execution_status_;
   std::atomic_bool ready_for_new_moprim_;
 
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 860047cf4..2c8919660 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -48,7 +48,7 @@
   <depend>ur_dashboard_msgs</depend>
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
-  <depend>motion_primitives_forward_controller</depend>
+  <depend>motion_primitives_controllers</depend>
   <depend>control_msgs</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
index a57c604ba..d86b7d0c9 100644
--- a/ur_robot_driver/src/hardware_interface.cpp
+++ b/ur_robot_driver/src/hardware_interface.cpp
@@ -35,7 +35,7 @@
  * \date    2020-11-9
  *
  * \author  Mathias Fuhrer mathias.fuhrer@b-robotized.de
- * \date    2025-05-28 – Added support for usage with motion_primitives_forward_controller
+ * \date    2025-05-28 – Added support for usage with motion_primitives_controller
  *
  */
 //----------------------------------------------------------------------
@@ -1630,7 +1630,7 @@ void URPositionHardwareInterface::handleMoprimCommands()
       }
       default:
       {
-        RCLCPP_INFO(rclcpp::get_logger("URPositionHardwareInterface"), "Received moprim command");
+        RCLCPP_DEBUG(rclcpp::get_logger("URPositionHardwareInterface"), "Received moprim command");
         // Push command to thread-safe queue
         if (!moprim_cmd_queue_.push(hw_moprim_commands_)) {
           RCLCPP_ERROR(rclcpp::get_logger("URPositionHardwareInterface"), "Failed to push command to "

From bbc11b425521ec41b61b2958b2a3bdfa6d404dbc Mon Sep 17 00:00:00 2001
From: Mathias Fuhrer <148789048+mathias31415@users.noreply.github.com>
Date: Mon, 27 Oct 2025 12:06:28 +0100
Subject: [PATCH 99/99] Update Universal_Robots_ROS2_Driver.rolling.repos

Co-authored-by: Felix Exner <feex@universal-robots.com>
---
 Universal_Robots_ROS2_Driver.rolling.repos | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos
index ac25469f2..9ab8ff404 100644
--- a/Universal_Robots_ROS2_Driver.rolling.repos
+++ b/Universal_Robots_ROS2_Driver.rolling.repos
@@ -17,10 +17,8 @@ repositories:
     version: master
   ros2_controllers:
     type: git
-    url: https://github.com/b-robotized-forks/ros2_controllers
-    version: motion_primitive_forward_controller
-    # url: https://github.com/ros-controls/ros2_controllers
-    # version: master
+    url: https://github.com/ros-controls/ros2_controllers
+    version: master
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git