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CHANGELOG.rst

@@ -1,6 +1,26 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package LBR FRI ROS 2 Stack 
+Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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
+  * 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`
+* `/lbr/command/...` now uses system default quality of service (QoS)
+* `/lbr/state` now uses sensor data quality of service (QoS)
+* Adds this changelog with release notes
+
 Humble v1.3.1 (2023-11-21)
 --------------------------
 * v1.3.0 Gazebo namespace fixes in https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/123

CITATION.cff

@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 1.3.1
+version: 1.4.0
 doi: 10.48550/arXiv.2311.12709
-date-released: 2023-11-22
+date-released: 2023-12-08