UR10 control with ROS Industrial failing with firmware 3.2.18744

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Hello,

I've been using the ROS universal robotics code on a UR5 arm for a while, and tried using the code on a more recently obtained UR10. The deserialize.py code in ur_driver started dying because the packet being unpacked is an expected size (46 instead of the packet sizes that are known, 29 and 38).

Is anyone else running into this issue? Are the packets a new length because of the different firmware versions? Or are the packets a new length because I moved from UR5 to UR10

• UR5 firmware version: 3.1.17779
• UR10 firmware version: 3.2.18744
• Place in deserialize where code is failing because plen==46: https://github.com/ros-industrial/uni...

Thanks!