Twist ROS 2 Controller & Link / Joint Prefix

[mhubii]

Addresses:

• Additional ROS 2 controllers: Add support for controllers #163
• Initial progress on issue: Dual-IIWA7 Arm Setup using ROS2 FRI Stack #189 (unique link / joint names via prefix)

To facilitate:

• Add a simple kinematics class in lbr_fri_ros2 (statically sized)
  • Use this class in lbr_fri_ros2::FTEstimator and lbr_ros2_control::TwistController
• Make the FT estimation in lbr_ros2_control::SystemInterface optional and asynchronous
• Add a twist controller
• Add a new admittance controller (chained) (to be addressed later)
• Add a dual-arm MoveIt demo (to be addressed later)

[mhubii]

/backport

[github-actions]

Backport failed because this pull request contains merge commits. You can either backport this pull request manually, or configure the action to skip merge commits.

[mhubii]

/backport

[github-actions]

Backport failed for humble, because it was unable to cherry-pick the commit(s).

Please cherry-pick the changes locally and resolve any conflicts.

git fetch origin humble
git worktree add -d .worktree/backport-213-to-humble origin/humble
cd .worktree/backport-213-to-humble
git switch --create backport-213-to-humble
git cherry-pick -x 9f7d243cdf7fc3b0a58c563916b84833e2b9d263 8832fc0d90c152d0f6f154f341e140c7b2aac0a2 4c02befd93d61569e8cb58678cccb301a3784583 9b65978581a84d19cb82c0b99b06a89da42a372b f76be5846c1e2dc3d6421f54a833fbb412ef6822 b33aec26ca1862308e01c447cddcdb3212dfe7cf 88bd6309b5ec42502fdbec50fcb0218b8735c67b 5e2103203c293b95045884cfd8da8fe8feb79921 62a5cfaaf336cbad6cc36171a7a84fc1b3bdfb37 0115ba2567a2a7e939c58994c0d13a8541cc1014 dae64a8001a9b4c0fe5dfb239c2d80fe8775d435 ffe3fac3dfd39a63830823d4d0488a38391e83a6 b9c1c43cf6fe84930f881dab90092c3ce2a7ed28 27fcbd49b2b86df4254db901d529dc939a72c6ef bb31bcc7f128d9e30bc5e8192ffbb45b781d1582 079232b93ea8f179380400172ad9874d6a9afbaf ea11f1ecc69333b675ea70876a72ad1432714498 2171bd85ca36dba786a6580e570f2d000a7d3f06 ac36e53902f6520b2d70d06a9e24ecac19014993 74afbb89877c57392d79302dcc2cb3fc3ef68a4c 48f92c14858fb68078d608c2fd1c84ed8adceb02