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Changelog for package LBR FRI ROS 2 Stack

Humble v1.4.3 (2024-02-03)

Humble v1.4.2 (2023-12-29)

Humble v1.4.1 (2023-12-15)

  • Removes the base_frame parameter from lbr_bringup, lbr_description, lbr_fri_ros2, lbr_ros2_control
  • Updates RViZ default config in lbr_moveit_config
  • Refers to lbr-stack#144

Humble v1.4.0 (2023-12-08)

  • 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 lbr-stack#142

Humble v1.3.1 (2023-11-21)

Humble v1.3.0 beta (2023-10-03)

  • Namespaced robot_description and joint_states
  • De-coupled commands, user will interact through LBRPositionCommand, LBRTorqueCommand, LBRWrenchCommand
  • Multi-robot support
  • New command / state interfaces in lbr_fri_ros2
  • Topic free ros2_control support through command / state interfaces in lbr_fri_ros2
  • Intraprocess cpp admittance demo
  • New app component based on command / state interfaces in lbr_fri_ros2
  • Refers to lbr-stack#121

Humble v1.2.5 (2023-09-08)

  • Updated visualization (STL -> DAE files with materials, might occur dark in Gazebo, caused by lack of light)
  • Fixes joint bug in Gazebo
  • Improved logging in command guard

Humble v1.2.4 (2023-08-09)

  • Remove robot name from configs and use frame_prefix from robot state publisher instead
  • Removed robot name from joint names, e.g. lbr_A1 -> A1
  • Added PID for asynchronous control rate
  • Simplified class names, e.g. LBRApp -> App
  • Add utils.hpp for PID and exponential filter

Humble v1.2.3 (2023-08-07)

  • Utilizes FRI through vendor package for common fri source in https://github.com/lbr-stack/
  • Addresses some of lbr-stack#85
  • Give command guard only logger interface
  • Fix open loop bug
  • Adds real-time priority via rt_prio parameter

Humble v1.2.2 (2023-08-05)

  • Adds base frame parameter to URDF and launch
  • Adds an open loop option to control the robot, which works extremely well
  • Updates logo in readme
  • Updates joint names to KUKA convention, i.e. A1,...

Humble v1.2.1 (2023-08-04)

Humble v1.2.0 (2023-08-03)

  • Re-introduces MoveIt, refer to lbr-stack#52
  • Moves demo prefix to front for improved package overview
  • Single node for hardware interface
  • Static executors where possible
  • Adds plenty documentation
  • Introduce /lbr, i.e. robot name, namespace to LBRClient for better multi-robot support. Commands / states now e.g. published to /lbr/command / /lbr/state
  • Hardware interface exact limits (stand-alone use has safety-limits)
  • Gives command guard a node handle