Merge pull request #225 from lbr-stack/dev-humble-rolling-backport

Rolling -> Humble backport
lbr-stack · Nov 20, 2024 · 86f0c97 · 86f0c97
2 parents cca24ae + 8639214
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,26 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.2.0 (2024-11-20)
+--------------------------
+This release backports new ``rolling`` features to ``humble``. Following has changed:
+
+  * Related PRs:
+
+    * https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/213 and https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/214
+
+      * Joints and links are now prefixed with ``lbr_`` (i.e. the robot name)
+      * Robot state publisher has no ``lbr/`` prefix anymore
+      * async + deactivateable FT estimation
+      * Issue with setting real-time priority fixed
+      * Modifiable source for ``lbr_system_config.yaml`` in launch files
+
+    * https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/220
+
+      * PID on joint position commands replaced by simpler exponential filter (please test robot in T1 mode as this will affect your control)
+      * Introduction of twist and admittance controllers
+      * Configurations from ``lbr_ros2_control`` now in ``lbr_description`` (for stand alone URDF use)
+
 Humble v2.1.2 (2024-10-18)
 --------------------------
 * Adds MoveIt Servo demo, related to https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/50 and https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/211

diff --git a/CITATION.cff b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.1.2
-doi: 10.48550/arXiv.2311.12709
-date-released: 2024-10-18
+version: 2.2.0
+doi: 10.21105/joss.06138
+date-released: 2024-11-20
diff --git a/README.md b/README.md
@@ -78,8 +78,8 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
     ```shell
     source install/setup.bash
     ros2 launch lbr_bringup rviz.launch.py \
-        rviz_config_pkg:=lbr_bringup \
-        rviz_config:=config/mock.rviz
+        rviz_cfg_pkg:=lbr_bringup \
+        rviz_cfg:=config/mock.rviz
     ```
 
 Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
@@ -88,13 +88,17 @@ Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_sta
 If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could leave a ⭐ and / or cite it, as it helps us to continue offering support.
 
 ```
-@misc{huber2023lbrstack,
-      title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, 
-      author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
-      year={2023},
-      eprint={2311.12709},
-      archivePrefix={arXiv},
-      primaryClass={cs.RO}
+@article{Huber2024,
+  doi       = {10.21105/joss.06138},
+  url       = {https://doi.org/10.21105/joss.06138},
+  year      = {2024},
+  publisher = {The Open Journal},
+  volume    = {9},
+  number    = {103},
+  pages     = {6138},
+  author    = {Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles},
+  title     = {LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots},
+  journal   = {Journal of Open Source Software}
 }
 ```
 

diff --git a/lbr_bringup/config/gazebo.rviz b/lbr_bringup/config/gazebo.rviz
@@ -67,59 +67,59 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_floating_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        link_1:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        world:
+          Value: true
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
       Mass Properties:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/config/hardware.rviz b/lbr_bringup/config/hardware.rviz
@@ -68,59 +68,59 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_floating_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        link_1:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        world:
+          Value: true
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
       Mass Properties:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/config/mock.rviz b/lbr_bringup/config/mock.rviz
@@ -67,59 +67,59 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_floating_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-          Value: true
-        link_1:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        world:
+          Value: true
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
       Mass Properties:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true

diff --git a/lbr_bringup/doc/lbr_bringup.rst b/lbr_bringup/doc/lbr_bringup.rst
@@ -114,8 +114,8 @@ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.lau
 .. code:: bash
 
     ros2 launch lbr_bringup rviz.launch.py \
-            rviz_config_pkg:=lbr_bringup \
-            rviz_config:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
+            rviz_cfg_pkg:=lbr_bringup \
+            rviz_cfg:=config/mock.rviz # [gazebo.rviz, hardware.rviz, mock.rviz]
 
 .. note::
     List all arguments for the launch file via ``ros2 launch lbr_bringup rviz.launch.py -s``.
@@ -156,8 +156,8 @@ The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/
         ld = LaunchDescription()
 
         # launch arguments
-        ld.add_action(RVizMixin.arg_rviz_config())
-        ld.add_action(RVizMixin.arg_rviz_config_pkg())
+        ld.add_action(RVizMixin.arg_rviz_cfg())
+        ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
 
         # rviz
         ld.add_action(RVizMixin.node_rviz())

diff --git a/lbr_bringup/launch/gazebo.launch.py b/lbr_bringup/launch/gazebo.launch.py
@@ -1,5 +1,5 @@
 from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PythonExpression
 from lbr_bringup.description import LBRDescriptionMixin
 from lbr_bringup.gazebo import GazeboMixin
 from lbr_bringup.ros2_control import LBRROS2ControlMixin
@@ -13,15 +13,17 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     ld.add_action(
         LBRROS2ControlMixin.arg_ctrl()
-    )  # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_ros2_control/config/lbr_controllers.yaml
+    )  # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_description/ros2_control/lbr_controllers.yaml
 
-    # static transform world -> robot_name/world
+    # static transform world -> <robot_name>_floating_link
     world_robot_tf = [0, 0, 0, 0, 0, 0]  # keep zero
     ld.add_action(
         LBRDescriptionMixin.node_static_tf(
             tf=world_robot_tf,
             parent="world",
-            child=PathJoinSubstitution([LaunchConfiguration("robot_name"), "world"]),
+            child=PythonExpression(
+                ["'", LaunchConfiguration("robot_name"), "' + '_floating_link'"]
+            ),
         )
     )
 

diff --git a/lbr_bringup/launch/hardware.launch.py b/lbr_bringup/launch/hardware.launch.py
@@ -1,7 +1,7 @@
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessStart
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PythonExpression
 from lbr_bringup.description import LBRDescriptionMixin
 from lbr_bringup.ros2_control import LBRROS2ControlMixin
 
@@ -12,17 +12,20 @@ def generate_launch_description() -> LaunchDescription:
     # launch arguments
     ld.add_action(LBRDescriptionMixin.arg_model())
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
-    ld.add_action(LBRDescriptionMixin.arg_port_id())
+    ld.add_action(LBRROS2ControlMixin.arg_sys_cfg_pkg())
+    ld.add_action(LBRROS2ControlMixin.arg_sys_cfg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg_pkg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl_cfg())
     ld.add_action(LBRROS2ControlMixin.arg_ctrl())
 
-    # static transform world -> robot_name/world
+    # static transform world -> <robot_name>_floating_link
     ld.add_action(
         LBRDescriptionMixin.node_static_tf(
             tf=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             parent="world",
-            child=PathJoinSubstitution([LaunchConfiguration("robot_name"), "world"]),
+            child=PythonExpression(
+                ["'", LaunchConfiguration("robot_name"), "' + '_floating_link'"]
+            ),
         )
     )
 
@@ -36,7 +39,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(robot_state_publisher)
 
     # ros2 control node
-    ros2_control_node = LBRROS2ControlMixin.node_ros2_control(use_sim_time=False)
+    ros2_control_node = LBRROS2ControlMixin.node_ros2_control(
+        use_sim_time=False, robot_description=robot_description
+    )
     ld.add_action(ros2_control_node)
 
     # joint state broad caster and controller on ros2 control node start