Merge branch 'lbr-stack:humble' into cartesian_vel

.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/build.yml

@@ -4,6 +4,7 @@ on:
   pull_request:
     branches:
       - humble
+  workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
 
@@ -14,12 +15,12 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-latest]
-        fri_version: [1.11, 1.14, 1.15, 1.16, 2.5]
+        os: [ubuntu-22.04]
+        fri_version: [1.11, 1.14, 1.15, 1.16, 2.5, 2.7]
     steps:
       - uses: ros-tooling/[email protected]
       - uses: ros-tooling/[email protected]
         with:
           package-name: lbr_fri_ros2_stack
           target-ros2-distro: humble
-          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/dev-humble-launch/lbr_fri_ros2_stack/repos-fri-${{ matrix.fri_version }}.yaml
+          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${{ matrix.fri_version }}.yaml

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,
+  and learning from the experience
+* Focusing on what is best not just for us as individuals, but for the
+  overall community
+
+Examples of unacceptable behavior include:
+
+* The use of sexualized language or imagery, and sexual attention or
+  advances of any kind
+* Trolling, insulting or derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or email
+  address, without their explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## 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
+behavior was inappropriate. A public apology may be requested.
+
+### 2. Warning
+
+**Community Impact**: A violation through a single incident or series
+of actions.
+
+**Consequence**: A warning with consequences for continued behavior. No
+interaction with the people involved, including unsolicited interaction with
+those enforcing the Code of Conduct, for a specified period of time. This
+includes avoiding interactions in community spaces as well as external channels
+like social media. Violating these terms may lead to a temporary or
+permanent ban.
+
+### 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
+communication with the community for a specified period of time. No public or
+private interaction with the people involved, including unsolicited interaction
+with those enforcing the Code of Conduct, is allowed during this period.
+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.

README.md

@@ -85,10 +85,16 @@ If you enjoyed using this repository for your work, we would really appreciate 
 
 ## Acknowledgements
 ### Open Source Contributors
-We would like to acknowledge all open source contributors 🚀
+We would like to acknowledge all contributors 🚀
+
+**lbr_fri_ros2_stack**
 
 [![lbr_fri_ros2_stack contributors](https://contrib.rocks/image?repo=lbr-stack/lbr_fri_ros2_stack&max=20)](https://github.com/lbr-stack/lbr_fri_ros2_stack/graphs/contributors)
 
+**fri**
+
+[![fri contributors](https://contrib.rocks/image?repo=lbr-stack/fri&max=20)](https://github.com/lbr-stack/fri/graphs/contributors)
+
 ### Organizations and Grants
 We would further like to acknowledge following supporters:
 

lbr_demos/lbr_demos_advanced_cpp/package.xml

@@ -11,7 +11,7 @@
 
   <exec_depend>lbr_description</exec_depend>
 
-  <depend>FRIClient</depend>
+  <depend>fri_client_sdk</depend>
   <depend>geometry_msgs</depend>
   <depend>kdl_parser</depend>
   <depend>lbr_fri_idl</depend>

lbr_demos/lbr_demos_advanced_py/package.xml

@@ -5,6 +5,7 @@
   <version>2.0.0</version>
   <description>Advanced Python demos for the lbr_ros2_control.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
+  <maintainer email="[email protected]">cmower</maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>lbr_description</exec_depend>

lbr_demos/lbr_demos_cpp/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>control_msgs</depend>
-  <depend>FRIClient</depend>
+  <depend>fri_client_sdk</depend>
   <depend>lbr_fri_idl</depend>
   <depend>lbr_fri_ros2</depend>
   <depend>rclcpp</depend>

lbr_demos/lbr_demos_py/lbr_demos_py/joint_trajectory_client.py

@@ -72,13 +72,13 @@ def main(args: list = None) -> None:
     joint_trajectory_client.get_logger().info("Rotating odd joints.")
     joint_trajectory_client.execute(
         [
+            1.0,
             0.0,
+            1.0,
             0.0,
+            1.0,
             0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.5,
+            1.0,
         ]
     )
 

lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst

@@ -12,6 +12,21 @@ MoveIt via RViZ
 
 To run MoveIt via RViZ, simply follow:
 
+Simulation
+~~~~~~~~~~
+#. Run the robot driver:
+
+    .. code-block:: bash
+
+        ros2 launch lbr_bringup bringup.launch.py \
+            moveit:=true \
+            sim:=true \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+
+#. You can now move the robot via MoveIt in RViZ!
+
+Hardware
+~~~~~~~~
 #. Client side configurations:
 
     #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
@@ -30,13 +45,4 @@ To run MoveIt via RViZ, simply follow:
         - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
         - ``FRI client command mode``: ``POSITION``
 
-#. Run the robot driver:
-
-    .. code-block:: bash
-
-        ros2 launch lbr_bringup bringup.launch.py \
-            moveit:=true \
-            sim:=false \
-            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
-
-#. You can now move the robot via MoveIt in RViZ!
+#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``.

lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp

@@ -61,13 +61,7 @@ struct EnumMaps {
     case KUKA::FRI::EClientCommandMode::POSITION:
       return "POSITION";
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
-    case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
-      return "JOINT_POSITION";
-    case KUKA::FRI::EClientCommandMode::CARTESIAN_POSE:
-      return "CARTESIAN_POSE";
-#endif
-#if FRICLIENT_VERSION_MAJOR == 3
+#if FRICLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
       return "JOINT_POSITION";
     case KUKA::FRI::EClientCommandMode::CARTESIAN_POSE:

lbr_fri_ros2/package.xml

@@ -14,7 +14,7 @@
   <build_depend>eigen</build_depend>
 
   <depend>control_toolbox</depend>
-  <depend>FRIClient</depend>
+  <depend>fri_client_sdk</depend>
   <depend>kdl_parser</depend>
   <depend>lbr_fri_idl</depend>
   <depend>orocos_kdl_vendor</depend>

lbr_fri_ros2/src/async_client.cpp

@@ -21,10 +21,7 @@ AsyncClient::AsyncClient(const KUKA::FRI::EClientCommandMode &client_command_mod
 #if FRICLIENT_VERSION_MAJOR == 1
   case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
-  case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
-#endif
-#if FRICLIENT_VERSION_MAJOR == 3
+#if FRICLIENT_VERSION_MAJOR >= 2
   case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
   {

lbr_fri_ros2/test/test_command_interfaces.cpp

@@ -36,10 +36,7 @@ class TestCommandInterfaces : public ::testing::Test {
 #if FRICLIENT_VERSION_MAJOR == 1
     case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
-    case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
-#endif
-#if FRICLIENT_VERSION_MAJOR == 3
+#if FRICLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
     {
@@ -149,10 +146,7 @@ TEST_F(TestCommandInterfaces, TestPositionCommandInterface) {
 #if FRICLIENT_VERSION_MAJOR == 1
   set_up(KUKA::FRI::EClientCommandMode::POSITION);
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
-  set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
-#endif
-#if FRICLIENT_VERSION_MAJOR == 3
+#if FRICLIENT_VERSION_MAJOR >= 2
   set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
 #endif
   test_simple();

lbr_fri_ros2_stack/package.xml

@@ -8,13 +8,13 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>lbr_fri_idl</depend>
+  <depend>lbr_fri_ros2</depend>
+  <depend>lbr_ros2_control</depend>
 
   <exec_depend>lbr_bringup</exec_depend>
-  <exec_depend>lbr_demos</exec_depend>
   <exec_depend>lbr_description</exec_depend>
-  <exec_depend>lbr_fri_idl</exec_depend>
-  <exec_depend>lbr_fri_ros2</exec_depend>
-  <exec_depend>lbr_ros2_control</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

lbr_fri_ros2_stack/repos-fri-2.7.yaml

@@ -0,0 +1,13 @@
+repositories:
+  fri:
+    type: git
+    url: https://github.com/lbr-stack/fri
+    version: fri-2.7
+  lbr_fri_idl:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_idl
+    version: fri-2
+  lbr_fri_ros2_stack:
+    type: git
+    url: https://github.com/lbr-stack/lbr_fri_ros2_stack
+    version: humble

lbr_moveit_config/doc/lbr_moveit_config.rst

@@ -12,15 +12,15 @@ This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14
 
     sudo apt install ros-$ROS_DISTRO-moveit*
 
-#. Make sure the ``lbr_fri_ros2_stack`` is installed and **sourced**, see :ref:`Installation`.
+#. Make sure the ``lbr-stack`` is installed and **sourced**, see :ref:`Installation`.
 
 #. Launch the setup assistant
 
 .. code-block:: bash
 
     ros2 launch moveit_setup_assistant setup_assistant.launch.py
 
-#. .. dropdown:: ``Load Files``: E.g. ``lbr_fri_ros2_stack_ws/install/lbr_description/share/lbr_description/urdf/iiwa7/iiwa7.xacro``
+#. .. dropdown:: ``Load Files``: E.g. ``lbr-stack/install/lbr_description/share/lbr_description/urdf/iiwa7/iiwa7.xacro``
 
     .. thumbnail:: img/00_start_screen.png
 
@@ -94,7 +94,7 @@ This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14
 
 Update MoveIt Configuration 
 ---------------------------
-#. Make sure the ``lbr_fri_ros2_stack`` is installed and sourced, see :ref:`Installation`.
+#. Make sure the ``lbr-stack`` is installed and sourced, see :ref:`Installation`.
 
 #. Run the setup assistant for the existing configuration.