robotiq · ebarnett3 · Aug 14, 2026 · Aug 11, 2026 · Aug 11, 2026 · Aug 13, 2026
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -68,3 +68,14 @@ repos:
         files: \.(c|cc|cxx|cpp|h|hh|hpp|hxx|ipp)$
         # -i arg is included by default by the hook
         args: ["-fallback-style=none"]
+
+  # The repo is versioned as a whole; VERSION is the authoritative copy and
+  # every package.xml has to agree with it. See dev/version.py.
+  - repo: local
+    hooks:
+      - id: version-consistency
+        name: package.xml versions match VERSION
+        entry: dev/version.py --check
+        language: system
+        files: '(^VERSION$|package\.xml$)'
+        pass_filenames: false
diff --git a/README.md b/README.md
@@ -5,7 +5,7 @@ ROS packages for Robotiq grippers and sensors.
 | Package | Description | ROS Version |
 |---|---|---|
 | [robotiq_tsf](robotiq_tsf/) | TSF-85 tactile sensor driver | ROS 2 Humble / Jazzy / Lyrical ([main](https://github.com/robotiq/ros/tree/main)) / ROS 1 Noetic ([noetic](https://github.com/robotiq/ros/tree/noetic)) |
-| [grippers](grippers/) | ROS 2 driver for Robotiq grippers (2F-85/140, Hand-E) — vendored from [PickNik](https://github.com/PickNikRobotics/ros2_robotiq_gripper) | ROS 2 Humble / Jazzy / Lyrical |
+| [grippers](grippers/) | ROS 2 `ros2_control` driver for Robotiq grippers (2F-85/140, Hand-E), on the [Robotiq C++ SDK](https://github.com/Robotiq/grippers) | ROS 2 Humble / Jazzy / Lyrical |
 
 ## Supported ROS 2 distros
 
@@ -32,6 +32,29 @@ is identical across all three. On Humble that makes this repo a drop-in
 replacement for PickNik's `humble` branch — see
 [Migrating from PickNik's ros2_robotiq_gripper](#migrating-from-picknik-ros2_robotiq_gripper).
 
+## Versioning
+
+The repository is versioned as a whole: every package carries the same version
+and each release is one tag, `v<version>`, covering both the gripper and TSF
+stacks. A release touching only one stack still moves the other's version.
+
+[`VERSION`](VERSION) at the repo root is the authoritative copy, on its first
+line. `package.xml` must hold a literal version string — ament, rosdep and bloom
+parse it statically — so the value is necessarily duplicated there;
+`dev/version.py` propagates it, and a pre-commit hook fails on drift:
+
+```bash
+dev/version.py              # show the version, report any drift
+dev/version.py --set 1.2.0  # bump VERSION and every package.xml
+```
+
+`VERSION` also lists the `package.xml` files holding a copy, as a reminder of
+what a bump touches. That list is generated by `--set` and checked by the hook,
+so adding or removing a package fails until it is regenerated.
+
+Tags predating this scheme were per-stack: `V1.0.0` released the TSF packages,
+and `0.0.1` is PickNik's original gripper release.
+
 ## Legacy
 
 | Repository | Description | ROS Version |
@@ -101,7 +124,21 @@ In the combined launch the pad frames are TF-mounted on the gripper fingertip li
 
 ROS 2 `ros2_control` driver for Robotiq grippers (2F-85 / 2F-140, Hand-E), under [`grippers/`](grippers/).
 
-`grippers/` is a vendored copy of PickNik Robotics' [`ros2_robotiq_gripper`](https://github.com/PickNikRobotics/ros2_robotiq_gripper) (BSD-3-Clause), imported via `git subtree` at upstream commit `3b6cf8f` with its history preserved, and maintained here in-tree. Upstream copyright and `<author>` tags are retained.
+The driver runs on the [Robotiq C++ grippers SDK](https://github.com/Robotiq/grippers), which arrives as
+the `extern/grippers` submodule — so clone with `--recurse-submodules`. The SDK owns the serial link
+and the Modbus exchange (one FC 0x17 transaction per cycle, on its own thread); `robotiq_driver` is
+the `ros2_control` layer above it, and its `read()` / `write()` copy the SDK's process image rather
+than touching the bus.
+
+**Robotiq maintains this driver.** It started from PickNik Robotics'
+[`ros2_robotiq_gripper`](https://github.com/PickNikRobotics/ros2_robotiq_gripper) (BSD-3-Clause),
+imported with `git subtree` at upstream commit `3b6cf8f` so its history came along, and has been
+developed here since: the in-tree Modbus implementation and the `vcs import`ed `serial` package it
+depended on were replaced by the SDK, three distros build from one branch, and bugs still open
+upstream ([#114](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/114),
+[#88](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/88)) are fixed here. Upstream
+copyright and `<author>` tags are retained; issues and support go to
+[robotiq/ros/issues](https://github.com/robotiq/ros/issues), not to PickNik.
 
 ### Migrating from PickNik's ros2_robotiq_gripper
 

diff --git a/VERSION b/VERSION
@@ -0,0 +1,15 @@
+1.1.0
+
+# Authoritative version for the whole repository. Every package.xml below
+# carries a copy, because ament, rosdep and bloom parse that version
+# statically and it cannot reference a variable:
+#
+#   grippers/robotiq_controllers/package.xml
+#   grippers/robotiq_description/package.xml
+#   grippers/robotiq_driver/package.xml
+#   grippers/robotiq_hardware_tests/package.xml
+#   robotiq_tsf/package.xml
+#
+# Bump with `dev/version.py --set X.Y.Z`, which rewrites this file and every
+# package.xml above. A pre-commit hook fails if they drift, or if this list
+# stops matching the packages in the repo.
diff --git a/dev/version.py b/dev/version.py
@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+"""Keep every package.xml <version> equal to the repo-root VERSION file.
+
+The repository is versioned as a whole: one version for all packages, one tag
+per release. package.xml has to carry a literal version string — ament, rosdep
+and bloom parse it statically, so it cannot reference a variable — which means
+the version is necessarily duplicated. VERSION is the authoritative copy and
+this script is what propagates it; the --check mode runs in pre-commit and CI so
+the copies cannot drift.
+
+    dev/version.py                 # report the current version and any drift
+    dev/version.py --check         # exit non-zero on drift (pre-commit, CI)
+    dev/version.py --set 1.2.0     # write VERSION and every package.xml
+    dev/version.py --check-tag v1.1.0   # assert a release tag matches VERSION
+"""
+
+import argparse
+import re
+import subprocess
+import sys
+from pathlib import Path
+
+REPO = Path(__file__).resolve().parent.parent
+VERSION_FILE = REPO / "VERSION"
+
+# <version> appears once per package.xml, and only the first occurrence is the
+# package's own version, so the substitution is deliberately count-limited.
+VERSION_TAG = re.compile(r"(<version>)([^<]*)(</version>)")
+SEMVER = re.compile(r"^\d+\.\d+\.\d+$")
+
+
+def package_xmls():
+    """Every package.xml we own.
+
+    Enumerated through git rather than a glob: tracked files only, so colcon
+    build/install trees carrying copies of package.xml stay out, and submodule
+    contents (gitlinks, not trees) are excluded for free.
+    """
+    listed = subprocess.run(
+        ["git", "-C", str(REPO), "ls-files", "*package.xml"],
+        capture_output=True,
+        text=True,
+        check=True,
+    )
+    return sorted(REPO / line for line in listed.stdout.split())
+
+
+def read_version():
+    """The version from VERSION: first line that is not blank or a comment.
+
+    The version stays on line 1 so `head -1 VERSION` remains a valid way to read
+    it; the comment block listing the package.xml copies follows below.
+    """
+    for line in VERSION_FILE.read_text().splitlines():
+        stripped = line.strip()
+        if stripped and not stripped.startswith("#"):
+            return stripped
+    raise SystemExit(f"{VERSION_FILE} holds no version line")
+
+
+def listed_package_xmls():
+    """The package.xml paths named in VERSION's reminder block."""
+    listed = []
+    for line in VERSION_FILE.read_text().splitlines():
+        stripped = line.lstrip("#").strip()
+        if stripped.endswith("package.xml"):
+            listed.append(stripped)
+    return sorted(listed)
+
+
+def render_version_file(version):
+    """VERSION's full contents: the version, then the generated reminder.
+
+    The list is generated rather than hand-kept, and --check compares it against
+    the tracked package.xml files, so it cannot quietly go stale when a package
+    is added or removed.
+    """
+    lines = [
+        version,
+        "",
+        "# Authoritative version for the whole repository. Every package.xml below",
+        "# carries a copy, because ament, rosdep and bloom parse that version",
+        "# statically and it cannot reference a variable:",
+        "#",
+    ]
+    lines += [f"#   {p.relative_to(REPO)}" for p in package_xmls()]
+    lines += [
+        "#",
+        "# Bump with `dev/version.py --set X.Y.Z`, which rewrites this file and every",
+        "# package.xml above. A pre-commit hook fails if they drift, or if this list",
+        "# stops matching the packages in the repo.",
+    ]
+    return "\n".join(lines) + "\n"
+
+
+def package_version(path):
+    match = VERSION_TAG.search(path.read_text())
+    return match.group(2) if match else None
+
+
+def drift(expected):
+    return [
+        (p.relative_to(REPO), package_version(p))
+        for p in package_xmls()
+        if package_version(p) != expected
+    ]
+
+
+def write_version(path, version):
+    text = path.read_text()
+    updated = VERSION_TAG.sub(rf"\g<1>{version}\g<3>", text, count=1)
+    if updated != text:
+        path.write_text(updated)
+        return True
+    return False
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    group = parser.add_mutually_exclusive_group()
+    group.add_argument("--check", action="store_true", help="fail on drift")
+    group.add_argument("--set", metavar="X.Y.Z", help="set the repo version")
+    group.add_argument("--check-tag", metavar="TAG", help="assert TAG matches VERSION")
+    args = parser.parse_args()
+
+    if args.set:
+        if not SEMVER.match(args.set):
+            parser.error(f"not a semantic version: {args.set}")
+        VERSION_FILE.write_text(render_version_file(args.set))
+        for path in package_xmls():
+            if write_version(path, args.set):
+                print(f"updated {path.relative_to(REPO)}")
+        print(f"repo version is now {args.set}")
+        return 0
+
+    expected = read_version()
+
+    if args.check_tag:
+        # Release tags are the repo version with a leading v.
+        if args.check_tag.lstrip("vV") != expected:
+            print(
+                f"tag {args.check_tag} does not match VERSION ({expected})",
+                file=sys.stderr,
+            )
+            return 1
+        print(f"tag {args.check_tag} matches VERSION")
+        return 0
+
+    tracked = [str(p.relative_to(REPO)) for p in package_xmls()]
+    stale = listed_package_xmls() != sorted(tracked)
+    mismatched = drift(expected)
+
+    if not mismatched and not stale:
+        print(f"{expected}: {len(tracked)} package.xml files agree")
+        return 0
+
+    if stale:
+        listed = set(listed_package_xmls())
+        print("VERSION's package.xml list no longer matches the repo:", file=sys.stderr)
+        for path in sorted(listed ^ set(tracked)):
+            side = "listed, no longer in the repo" if path in listed else "not listed"
+            print(f"  {path}: {side}", file=sys.stderr)
+
+    if mismatched:
+        print(f"VERSION says {expected}, but:", file=sys.stderr)
+        for path, found in mismatched:
+            print(f"  {path}: {found}", file=sys.stderr)
+    if args.check:
+        print("run dev/version.py --set <version> to fix", file=sys.stderr)
+        return 1
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/extern/grippers b/extern/grippers
diff --git a/grippers/robotiq_controllers/CHANGELOG.rst b/grippers/robotiq_controllers/CHANGELOG.rst
diff --git a/grippers/robotiq_controllers/package.xml b/grippers/robotiq_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_controllers</name>
-  <version>0.0.1</version>
+  <version>1.1.0</version>
   <description>Controllers for the Robotiq gripper.</description>
   <maintainer email="noreply@robotiq.com">Robotiq</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/grippers/robotiq_description/CHANGELOG.rst b/grippers/robotiq_description/CHANGELOG.rst
diff --git a/grippers/robotiq_description/package.xml b/grippers/robotiq_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_description</name>
-  <version>0.0.1</version>
+  <version>1.1.0</version>
   <description>URDF and xacro description package for the Robotiq gripper.</description>
   <author>Cory Crean</author>
   <maintainer email="noreply@robotiq.com">Robotiq</maintainer>

diff --git a/grippers/robotiq_driver/CHANGELOG.rst b/grippers/robotiq_driver/CHANGELOG.rst
diff --git a/grippers/robotiq_driver/package.xml b/grippers/robotiq_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_driver</name>
-  <version>0.0.1</version>
+  <version>1.1.0</version>
   <description>ROS2 driver package for the Robotiq gripper.</description>
   <maintainer email="noreply@robotiq.com">Robotiq</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/grippers/robotiq_hardware_tests/package.xml b/grippers/robotiq_hardware_tests/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_hardware_tests</name>
-  <version>0.0.1</version>
+  <version>1.1.0</version>
   <description>ROS2 driver for the Robotiq gripper.</description>
   <maintainer email="noreply@robotiq.com">Robotiq</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/robotiq_tsf/package.xml b/robotiq_tsf/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>robotiq_tsf</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>ROS 2 tactile sensing package for the Robotiq TSF-85 (Humble, Jazzy, Lyrical).</description>
 
   <maintainer email="jean-philippe.roberge@etsmtl.ca">Jean-Philippe Roberge</maintainer>
+1 −0		.github/workflows/ci.yml
+11 −4		README.md
+1 −1		sdk_cpp/CMakeLists.txt
+6 −4		sdk_cpp/examples/move_gripper.cpp
+0 −1		sdk_cpp/include/Robotiq/gripper.hpp
+10 −4		sdk_cpp/include/Robotiq/gripper/stderr_logger.hpp
+15 −4		sdk_cpp/src/hosted/stderr_logger.cpp
+11 −0		sdk_cpp/tests/test_logger.cpp