Releases | Open Source Science

lbr_fri_ros2_stack - Humble-v2.2.1

lbr_bringup: Removed static broadcasters from launch files: https://github.com/lbr-stack/lbrfriros2_stack/pull/264 @Khouloud-Hamrouni
lbr_description:
- Decimate collision meshes for faster Gazebo simulation: https://github.com/lbr-stack/lbrfriros2_stack/pull/262 @mhubii
- Added world link to xacro files (fixes robot to Gazebo world): https://github.com/lbr-stack/lbrfriros2_stack/pull/264 @Hydran00, @Khouloud-Hamrouni
lbr_demos_cpp: Added missing robot name prefix to joint names: https://github.com/lbr-stack/lbrfriros2_stack/pull/258 @Khouloud-Hamrouni
lbr_demos_py: Added missing robot name prefix to joint names: https://github.com/lbr-stack/lbrfriros2_stack/pull/259 @Khouloud-Hamrouni
lbr_ros2_control: Update deprecated headers https://github.com/lbr-stack/lbrfriros2stack/pull/267, https://github.com/lbr-stack/lbrfriros2stack/pull/269 @mhubii
lbr_fri_ros2: Fixes for compliant control modes.
- Fixed a bug that wouldn't forward torques / wrenches: https://github.com/lbr-stack/lbrfriros2_stack/pull/233 @Hydran00, @matteodv99tn
- Enforce open_loop=false (position) for compliant controllers: https://github.com/lbr-stack/lbrfriros2_stack/pull/237 @mhubii, @anselmo-parnada, @Hydran00
lbr_fri_ros2_stack: Repositories file for FRI 2.6: https://github.com/lbr-stack/lbrfriros2_stack/pull/248 @matija9

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Published by mhubii 11 months ago

lbr_fri_ros2_stack - Humble-v2.2.0

This release backports new rolling features to humble. Following has changed:

Related PRs:
- https://github.com/lbr-stack/lbrfriros2stack/pull/213 and https://github.com/lbr-stack/lbrfriros2stack/pull/214
- Joints and links are now prefixed with lbr_ (i.e. the robot name)
- Robot state publisher has no lbr/ prefix anymore
- Asynchronous + deactivateable force-torque estimation from external torques (previously synchronous): https://github.com/lbr-stack/lbrfriros2stack/blob/32d8c78f3644576cf1d98e2c2598aa11d3ba1077/lbrdescription/ros2control/lbrsystem_config.yaml#L26
- Issue with setting real-time priority fixed
- Modifiable source for lbr_system_config.yaml in launch files
- https://github.com/lbr-stack/lbrfriros2_stack/pull/220
- PID on joint position commands replaced by simpler exponential filter (⚠️ please test your own controls in T1 mode, as they might be affected)
- Introduction of twist and admittance controllers, run e.g. with (also see documentation https://lbr-stack.readthedocs.io/en/latest/lbrfriros2stack/lbrdemos/lbrdemosadvancedcpp/doc/lbrdemosadvancedcpp.html#twist-controller): shell ros2 launch lbr_bringup hardware.launch.py ctrl:=twist_controller
- Configurations from lbr_ros2_control now in lbr_description (for stand alone URDF use): https://github.com/lbr-stack/lbrfriros2stack/tree/humble/lbrdescription/ros2_control

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v2.2.0

This release backports new rolling features to humble. Following has changed:

Related PRs:
- https://github.com/lbr-stack/lbrfriros2stack/pull/213 and https://github.com/lbr-stack/lbrfriros2stack/pull/214
- Joints and links are now prefixed with lbr_ (i.e. the robot name)
- Robot state publisher has no lbr/ prefix anymore
- Asynchronous + deactivateable force-torque estimation from external torques (previously synchronous): https://github.com/lbr-stack/lbrfriros2stack/blob/32d8c78f3644576cf1d98e2c2598aa11d3ba1077/lbrdescription/ros2control/lbrsystem_config.yaml#L26
- Issue with setting real-time priority fixed
- Modifiable source for lbr_system_config.yaml in launch files
- https://github.com/lbr-stack/lbrfriros2_stack/pull/220
- PID on joint position commands replaced by simpler exponential filter (⚠️ please test your own controls in T1 mode, as they might be affected)
- Introduction of twist and admittance controllers, run e.g. with (also see documentation https://lbr-stack.readthedocs.io/en/latest/lbrfriros2stack/lbrdemos/lbrdemosadvancedcpp/doc/lbrdemosadvancedcpp.html#twist-controller): shell ros2 launch lbr_bringup hardware.launch.py ctrl:=twist_controller
- Configurations from lbr_ros2_control now in lbr_description (for stand alone URDF use): https://github.com/lbr-stack/lbrfriros2stack/tree/humble/lbrdescription/ros2_control

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v2.1.2

Adds MoveIt Servo launch and demo usage:

Documentation: https://lbr-stack.readthedocs.io/en/latest/lbrfriros2stack/lbrdemos/lbrmoveit/doc/lbrmoveit.html#moveit-servo
lbr_bringup: New launch mixin and launch file for MoveIt Servo
lbr_moveit: New keyboard driver to interface with MoveIt Servo

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - JOSS Archive

This release tags review https://github.com/openjournals/joss-reviews/issues/6138#issuecomment-1915084224 for JOSS.

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v2.1.1

Adds support for the the new Gazebo, removes support for Gazebo Classic (End-of-Life January 2025, see https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563)

https://github.com/user-attachments/assets/2178d3d4-ffbf-407d-9079-d9b2faa63356

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v2.1.0

De-couple launch files from lbr_bringup for easier customization (breaking change):
- Removed sim:=true / false argument from launch files in favor of dedicated launch files (since no feature parity between simulation and real robot)
- MoveIt and RViz need to be launched separately now
- User can now launch via:
- ros2 launch lbr_bringup mock.launch.py (new: mock system)
- ros2 launch lbr_bringup hardware.launch.py (real robot)
- ros2 launch lbr_bringup gazebo.launch.py (Gazebo simulation)
Added mock hardware to lbr_ros2_control (for simple ros2_control testing without the need for Gazebo, refer https://control.ros.org/humble/doc/ros2control/hardwareinterface/doc/mockcomponentsuserdoc.html)
Updated documentation

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v2.0.0

This release aims for first class citizen ros2_control integration, alongside much improved documentation and support for all FRI versions. Documentation: https://lbr-stack.readthedocs.io/en/latest/

Contributors

We would like to highlight and thank all contributors!

https://github.com/lbr-stack/fri/pull/22: @fredRocs
https://github.com/lbr-stack/fri/pull/23: @peterMitrano
https://github.com/lbr-stack/fri/pull/18: @bowangFromMars
https://github.com/lbr-stack/fri/pull/27: @OmidRezayof
FRI 2.x testing: @liver121888
#151: @Nicolai-98
#175: @StephanSchwarz96
#165 @vazik01

Release Video

https://github.com/lbr-stack/lbrfriros2_stack/assets/26366414/08c82f41-54c3-4add-97fa-a5b908448eb6

Breaking Changes

To - Support a single mode of interaction - Support all available FRI versions

some breaking changes were made:

Interface Definition Language (IDL)
- lbr_fri_msgs renamed to lbr_fri_idl
- lbr_fri_idl moved to https://github.com/lbr-stack/lbrfriidl (so FRI 1.x and 2.x can be supported)
- Renamed LBRPositionCommand.msg to LBRJointPositionCommand.msg
- Added tests to lbr_fri_idl
Removed legacy app.launch.py so user interacts through ros2_control primarily

Other Improvements

Matrix testing against multiple FRIs (https://github.com/lbr-stack/fri): 1.11, 1.14, 1.15, 1.16, 2.5, 2.7
black linting for Python scripts
ros2_control_node: Read robot description from robot state publisher
Added interface tests for lbr_fri_ros2
Massively improved documentation
Terminal log coloring a la https://github.com/ros-controls/ros2_control/blob/
The AsyncClient is now de-coupled by client command mode position, torque, wrench (smplifies architecture, improves runtime)
- Loads a robot interface through configurations in lbr_system_parameters.yaml: https://github.com/lbr-stack/lbrfriros2stack/blob/519f5203518d8111ec9a98856ba711ce9bad99d0/lbrros2control/config/lbrsystem_parameters.yaml#L6
- Documentation: https://lbr-stack.readthedocs.io/en/latest/lbrfriros2stack/lbrros2control/doc/lbrros2_control.html#general

Bug Fixes

Velocity limit checks in impedance control mode
Command guard error #175

What is Next

Fix several pending issues around usability (among others):
- MoveIt with multiple robots: #189
- MoveIt servo: #50
- MoveIt via script: #140 (Jazzy onwards)
- Fake hardware, i.e. no Gazebo #193
- MoveIt with Gripper #133
- Launch file clean-up
Support for new Gazebo: https://gazebosim.org/
Ubuntu 24.04 ROS 2 Jazzy support: https://github.com/lbr-stack/lbrfriros2_stack/tree/dev-jazzy

Thank you to everyone who contributed and provided feedback!

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Published by mhubii over 1 year ago

lbr_fri_ros2_stack - Humble-v1.4.3

Fixes moveit namespace, refer to https://github.com/lbr-stack/lbrfriros2_stack/issues/154, maps:
- planning_scene -> robot_name/planning_scene
- planning_scene_world-> robot_name/planning_scene

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Published by mhubii about 2 years ago

lbr_fri_ros2_stack - Humble v1.4.2

Fixes cartesian path for move group node with namespace: https://github.com/lbr-stack/lbrfriros2_stack/issues/133
Solution @josefinemonnet: https://github.com/ros-planning/moveit2/issues/2545#issuecomment-1868480168
Refers to https://github.com/lbr-stack/lbrfriros2_stack/pull/146

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Published by mhubii about 2 years ago

lbr_fri_ros2_stack - Humble v1.4.1

Fixes the floating base in Gazebo #129
Refers to #144

Special thanks to @Tianhuanyu.

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Published by mhubii about 2 years ago

lbr_fri_ros2_stack - Humble v1.4.0

The general goal of this release is a tighter ros2_control integration. The lbr_bringup will serve as single entry point in the future. For now, app_component and app.launch.py are kept
Changes to lbr_fri_ros2:
- Removes logging / parameter interfaces from lbr_fri_ros2 (so lbr_ros2_control serves as single interaction point)
- Updates legacy app_component in lbr_fri_ros2 for changes. To be depracted in the future
- Adds force-torque estimator to lbr_fri_ros2
Changes to lbr_ros2_control:
- Removes now redundant node from lbr_ros2_control
- Adds forward position and forward torque controllers to lbr_ros2_control
- Removes estimated force-torque broadcaster from lbr_ros2_control in favor of ros2_control default implementation
- Force-torque now available under /lbr/force_torque_broadcaster/wrench
- Namespace issues since lbr_controllers.yaml includes namespace in frame_id parameter
- Adds lbr_fri_ros2 force-torque estimator to lbr_ros2_control as sensor
- Adds configurations to lbr_system_interface.xacro
- Simplifies lbr_ros2_control class names
/lbr/command/position topic now under /lbr/command/joint_position
Adds this changelog with release notes
Refers to https://github.com/lbr-stack/lbrfriros2_stack/pull/142

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Published by mhubii about 2 years ago

lbr_fri_ros2_stack - Humble v1.3.1

What's Changed

v1.3.0 Gazebo namespace fixes by @mhubii in https://github.com/lbr-stack/lbrfriros2_stack/pull/123
Fix iiwa ee link by @mhubii in https://github.com/lbr-stack/lbrfriros2_stack/pull/126
Humble v.1.3.1 by @mhubii in https://github.com/lbr-stack/lbrfriros2_stack/pull/130

Full Changelog: https://github.com/lbr-stack/lbrfriros2_stack/compare/humble-v1.3.0-beta...humble-v1.3.1

Special thanks to @ardiya, @Tianhuanyu, @CarlDegio, @EliasTDam for their contributions.