Merge branch 'humble' into dev-humble-ignition-gazebo

.github/CONTRIBUTING.md

@@ -0,0 +1,21 @@
+The [LBR-Stack](https://github.com/lbr-stack/) thrives to build a friendly community for `KUKA` users to foster knowledge exchange! :)
+
+We **encourage** everyone to open issues for questions / problems / features. For additional information, we would like to provide some links below.
+
+### Knowledge Sources
+- [Open issues](https://github.com/lbr-stack/lbr_fri_ros2_stack/issues)
+- [Closed issues](https://github.com/lbr-stack/lbr_fri_ros2_stack/issues?q=is%3Aissue+is%3Aclosed)
+- [Read the Docs](https://lbr-stack.readthedocs.io/en/latest/)
+
+## Contributing
+### LBR FRI ROS 2 Stack
+Contributions are vital to this project. If you want to contribute a feature / fix proceed as follows
+
+1. Open an issue:
+  - Explain the issue and your solution
+  - Request a new branch: `dev-<ros_version>-<feature>`, e.g. `dev-humble-my-new-demo`
+2. Fork this repository
+3. Create a [pull request](https://github.com/lbr-stack/lbr_fri_ros2_stack/pulls) against `dev-<ros_version>-<feature>`
+
+### New FRI version
+Refer [README](https://github.com/lbr-stack/fri#contributing) for instructions.

.github/workflows/black.yml

@@ -0,0 +1,10 @@
+name: Lint
+
+on: [push, pull_request]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: psf/black@stable

.github/workflows/build-ubuntu-22.04-fri-1.11.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-1.11
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 1.11

.github/workflows/build-ubuntu-22.04-fri-1.14.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-1.14
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 1.14

.github/workflows/build-ubuntu-22.04-fri-1.15.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-1.15
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 1.15

.github/workflows/build-ubuntu-22.04-fri-1.16.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-1.16
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 1.16

.github/workflows/build-ubuntu-22.04-fri-2.5.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-2.5
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 2.5

.github/workflows/build-ubuntu-22.04-fri-2.7.yml

@@ -0,0 +1,15 @@
+name: build-ubuntu-22.04-fri-2.7
+on:
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+  schedule:
+    - cron: "0 0 * * 0"
+
+jobs:
+  build:
+    uses: ./.github/workflows/build.yml
+    with:
+      os: ubuntu-22.04
+      fri_version: 2.7

.github/workflows/build.yml

@@ -1,24 +1,24 @@
 name: Build
 
 on:
-  pull_request:
-    branches:
-      - humble
-  schedule:
-    - cron: '0 0 * * 0'
+  workflow_call: # https://github.com/orgs/community/discussions/52616#discussioncomment-9364532
+    inputs:
+      os:
+        required: true
+        type: string
+      fri_version:
+        required: true
+        type: string
 
 # ros 2 ci: https://github.com/marketplace/actions/ros-2-ci-action
 # doc: https://ubuntu.com/blog/ros-2-ci-with-github-actions
 jobs:
   build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-latest]
+    runs-on: ${{ inputs.os }}
     steps:
       - uses: ros-tooling/[email protected]
       - uses: ros-tooling/[email protected]
         with:
           package-name: lbr_fri_ros2_stack
           target-ros2-distro: humble
-          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
+          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml

CHANGELOG.rst

@@ -1,6 +1,57 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.1.0 (2024-09-10)
+--------------------------
+* 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/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
+* Updated documentation
+
+Humble v2.0.0 (2024-07-08)
+--------------------------
+* Remove ``app.launch.py`` from demos in favor for ``ros2_control`` variant (breaking change)
+* ``lbr_ros2_control``:
+
+  * Add Cartesian impedance controller
+  * Add ``lbr_system_parameters.yaml`` for system parameter configuration
+* ``lbr_demos``:
+
+  * Remove legacy demos
+  * Add demo for each available controller, both in C++ and Python
+* ``lbr_fri_ros2``: De-couple the async client into ``position`` / ``torque`` / ``wrench``
+* Matrix testing against multiple FRIs (https://github.com/lbr-stack/fri): ``1.11``, ``1.14``, ``1.15``, ``1.16``, ``2.5``, ``2.7``
+* IDL changes: (breaking change)
+
+  * ``lbr_fri_msgs`` to ``lbr_fri_idl``
+  * Moved ``lbr_fri_idl`` into external folder (https://github.com/lbr-stack/lbr_fri_idl) for supporting multiple FRI versions
+  * Renamed ``LBRPositionCommand`` to ``LBRJointPositionCommand``
+* Update documentation
+
+  * Refer https://lbr-stack.readthedocs.io/en/latest/
+  * Deletes branches at https://github.com/lbr-stack/lbr_stack_doc in favor of tags
+  * Adds an architecture chart to highlight ``lbr_ros2_control`` relation to ``ros2_control``
+* Add log coloring a la https://github.com/ros-controls/ros2_control/blob/e149646d3f2595f269cfa4e1cd0681abde89ee69/controller_manager/controller_manager/spawner.py#L45
+* Adds ``black`` linting for Python scripts
+* Fixes velocity limit checks in impedance control mode
+* Add development tools dependency https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/145
+* ``ros2_control_node``: Read robot description from robot state publisher
+* Add tests to ``lbr_fri_idl`` and ``lbr_fri_ros2``
+* Moves all launch mixins to ``lbr_bringup``
+* Update parameter source for ``gazebo_ros2_control`` package in ``lbr.gazebo.xacro``
+
+Humble v1.4.3 (2024-02-03)
+--------------------------
+* Fixes planning scene namespace https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/153
+* Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/155
+
 Humble v1.4.2 (2023-12-29)
 --------------------------
 * Fixes cartesian path for move group node with namespace: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/133
@@ -10,7 +61,7 @@ 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``
+* Updates RViz default config in ``lbr_moveit_config``
 * Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/144
 
 Humble v1.4.0 (2023-12-08)

CITATION.cff

@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 1.4.2
+version: 2.1.0
 doi: 10.48550/arXiv.2311.12709
-date-released: 2023-12-29
+date-released: 2024-09-10

CODE_OF_CONDUCT.md

@@ -0,0 +1,128 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+We as members, contributors, and leaders pledge to make participation in our
+community a harassment-free experience for everyone, regardless of age, body
+size, visible or invisible disability, ethnicity, sex characteristics, gender
+identity and expression, level of experience, education, socio-economic status,
+nationality, personal appearance, race, religion, or sexual identity
+and orientation.
+
+We pledge to act and interact in ways that contribute to an open, welcoming,
+diverse, inclusive, and healthy community.
+
+## Our Standards
+
+Examples of behavior that contributes to a positive environment for our
+community include:
+
+* Demonstrating empathy and kindness toward other people
+* Being respectful of differing opinions, viewpoints, and experiences
+* Giving and gracefully accepting constructive feedback
+* Accepting responsibility and apologizing to those affected by our mistakes,
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+  overall community
+
+Examples of unacceptable behavior include:
+
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+* Other conduct which could reasonably be considered inappropriate in a
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+
+## Enforcement Responsibilities
+
+Community leaders are responsible for clarifying and enforcing our standards of
+acceptable behavior and will take appropriate and fair corrective action in
+response to any behavior that they deem inappropriate, threatening, offensive,
+or harmful.
+
+Community leaders have the right and responsibility to remove, edit, or reject
+comments, commits, code, wiki edits, issues, and other contributions that are
+not aligned to this Code of Conduct, and will communicate reasons for moderation
+decisions when appropriate.
+
+## Scope
+
+This Code of Conduct applies within all community spaces, and also applies when
+an individual is officially representing the community in public spaces.
+Examples of representing our community include using an official e-mail address,
+posting via an official social media account, or acting as an appointed
+representative at an online or offline event.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported to the community leaders responsible for enforcement at
+https://github.com/lbr-stack/lbr_fri_ros2_stack/issues.
+All complaints will be reviewed and investigated promptly and fairly.
+
+All community leaders are obligated to respect the privacy and security of the
+reporter of any incident.
+
+## Enforcement Guidelines
+
+Community leaders will follow these Community Impact Guidelines in determining
+the consequences for any action they deem in violation of this Code of Conduct:
+
+### 1. Correction
+
+**Community Impact**: Use of inappropriate language or other behavior deemed
+unprofessional or unwelcome in the community.
+
+**Consequence**: A private, written warning from community leaders, providing
+clarity around the nature of the violation and an explanation of why the
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+
+### 2. Warning
+
+**Community Impact**: A violation through a single incident or series
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+
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+
+### 3. Temporary Ban
+
+**Community Impact**: A serious violation of community standards, including
+sustained inappropriate behavior.
+
+**Consequence**: A temporary ban from any sort of interaction or public
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+private interaction with the people involved, including unsolicited interaction
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+Violating these terms may lead to a permanent ban.
+
+### 4. Permanent Ban
+
+**Community Impact**: Demonstrating a pattern of violation of community
+standards, including sustained inappropriate behavior,  harassment of an
+individual, or aggression toward or disparagement of classes of individuals.
+
+**Consequence**: A permanent ban from any sort of public interaction within
+the community.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 2.0, available at
+https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
+
+Community Impact Guidelines were inspired by [Mozilla's code of conduct
+enforcement ladder](https://github.com/mozilla/diversity).
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see the FAQ at
+https://www.contributor-covenant.org/faq. Translations are available at
+https://www.contributor-covenant.org/translations.