lbr-stack · mhubii · Aug 9, 2023 · Aug 7, 2023 · Aug 7, 2023 · Aug 7, 2023
diff --git a/lbr_bringup/config/config.rviz b/lbr_bringup/config/config.rviz
@@ -67,47 +67,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        lbr_link_0:
+        link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_1:
+        link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_2:
+        link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_3:
+        link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_4:
+        link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_5:
+        link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_6:
+        link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_7:
+        link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        lbr_link_ee:
+        link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false

diff --git a/lbr_bringup/doc/lbr_bringup.rst b/lbr_bringup/doc/lbr_bringup.rst
@@ -65,14 +65,14 @@ Standalone launch is great for research. Only the the real robot is supported. I
 
 .. code:: bash
 
-    ros2 launch lbr_fri_ros2 lbr_app.launch.py \
+    ros2 launch lbr_fri_ros2 app.launch.py \
         model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
         robot_name:=lbr # any robot name
 
-This runs the :lbr_fri_ros2:`LBRAppComponentLBRApp <lbr_fri_ros2::LBRAppComponent>`, which creates 2 topics, ``/robot_name/command`` for commands and ``/robot_name/state``. See :ref:`LBR Demos FRI ROS 2` for more examples and :ref:`LBR FRI ROS 2` for more documentation.
+This runs the :lbr_fri_ros2:`AppComponent <lbr_fri_ros2::AppComponent>`, which creates 2 topics, ``/robot_name/command`` for commands and ``/robot_name/state``. See :ref:`LBR Demos FRI ROS 2` for more examples and :ref:`LBR FRI ROS 2` for more documentation.
 
 .. note::
-    For a list of available parameters, call ``ros2 launch lbr_fri_ros2 lbr_app.launch.py -s``.
+    For a list of available parameters, call ``ros2 launch lbr_fri_ros2 app.launch.py -s``.
 
 Troubleshooting
 ---------------

diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
@@ -34,7 +34,7 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
 
     # robot state publisher on joint state broadcaster spawn exit
     robot_state_publisher = LBRHardwareInterfaceMixin.node_robot_state_publisher(
-        robot_description=robot_description
+        robot_description=robot_description, use_sim_time=False, frame_prefix=""
     )
     robot_state_publisher_event_handler = RegisterEventHandler(
         OnProcessExit(

diff --git a/lbr_bringup/launch/sim.launch.py b/lbr_bringup/launch/sim.launch.py
@@ -21,7 +21,7 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     joint_state_broadcaster = LBRHardwareInterfaceMixin.node_joint_state_broadcaster()
     ld.add_action(joint_state_broadcaster)
     robot_state_publisher = LBRHardwareInterfaceMixin.node_robot_state_publisher(
-        robot_description=robot_description
+        robot_description=robot_description, use_sim_time=True, frame_prefix=""
     )
     ld.add_action(
         robot_state_publisher

diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_bringup</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>LBR launch files.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_cpp</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>Advanced C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_control_node.cpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_control_node.cpp
@@ -4,7 +4,7 @@
 
 #include "lbr_fri_msgs/msg/lbr_command.hpp"
 #include "lbr_fri_msgs/msg/lbr_state.hpp"
-#include "lbr_fri_ros2/lbr_app.hpp"
+#include "lbr_fri_ros2/app.hpp"
 
 #include "admittance_controller.hpp"
 #include "damped_least_squares.hpp"
@@ -14,8 +14,8 @@ class AdmittanceControlNode : public rclcpp::Node {
   AdmittanceControlNode(const std::string &node_name, const rclcpp::NodeOptions &options)
       : rclcpp::Node(node_name, options) {
     this->declare_parameter<std::string>("robot_description");
-    this->declare_parameter<std::string>("base_link", "lbr_link_0");
-    this->declare_parameter<std::string>("end_effector_link", "lbr_link_ee");
+    this->declare_parameter<std::string>("base_link", "link_0");
+    this->declare_parameter<std::string>("end_effector_link", "link_ee");
 
     admittance_controller_ = std::make_unique<AdmittanceController>(
         this->get_parameter("robot_description").as_string(),
@@ -75,15 +75,15 @@ int main(int argc, char **argv) {
 
   auto executor = std::make_shared<rclcpp::executors::StaticSingleThreadedExecutor>();
 
-  auto lbr_node =
-      std::make_shared<rclcpp::Node>("lbr", rclcpp::NodeOptions().use_intra_process_comms(true));
+  auto app_node = std::make_shared<rclcpp::Node>(
+      "app", "lbr", rclcpp::NodeOptions().use_intra_process_comms(true));
 
-  auto lbr_app = lbr_fri_ros2::LBRApp(lbr_node);
+  auto app = lbr_fri_ros2::App(app_node);
 
   auto admittance_control_node = std::make_shared<AdmittanceControlNode>(
       "admittance_control_node", rclcpp::NodeOptions().use_intra_process_comms(true));
 
-  executor->add_node(lbr_node);
+  executor->add_node(app_node);
   executor->add_node(admittance_control_node);
   executor->spin();
 

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp
@@ -22,10 +22,10 @@ class AdmittanceController {
 
 public:
   AdmittanceController(const std::string &robot_description,
-                       const std::string &base_link = "lbr_link_0",
-                       const std::string &end_effector_link = "lbr_link_ee",
-                       const CartesianVector &f_ext_th = {2., 2., 2., 0.5, 0.5, 0.5},
-                       const JointVector &dq_gains = {2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0},
+                       const std::string &base_link = "link_0",
+                       const std::string &end_effector_link = "link_ee",
+                       const CartesianVector &f_ext_th = {4., 4., 4., 0.5, 0.5, 0.5},
+                       const JointVector &dq_gains = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0},
                        const CartesianVector &dx_gains = {1.5, 1.5, 1.5, 20., 40., 60.})
       : dq_gains_(dq_gains), dx_gains_(dx_gains), f_ext_th_(f_ext_th) {
     if (!kdl_parser::treeFromString(robot_description, tree_)) {

diff --git a/...s/lbr_demos_fri_ros2_advanced_python/doc/lbr_demos_fri_ros2_advanced_python.rst b/...s/lbr_demos_fri_ros2_advanced_python/doc/lbr_demos_fri_ros2_advanced_python.rst
@@ -18,7 +18,7 @@ Admittance Controller
 
 .. code-block:: bash
 
-    ros2 launch lbr_fri_ros2 lbr_app.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+    ros2 launch lbr_fri_ros2 app.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `admittance_control_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_advanced_python/lbr_demos_fri_ros2_advanced_python/admittance_control_node.py>`_:
 

diff --git a/...os_fri_ros2_advanced_python/lbr_demos_fri_ros2_advanced_python/admittance_control_node.py b/...os_fri_ros2_advanced_python/lbr_demos_fri_ros2_advanced_python/admittance_control_node.py
@@ -15,8 +15,8 @@ def __init__(self, node_name="admittance_control_node") -> None:
 
         # parameters
         self.declare_parameter("robot_description", "")
-        self.declare_parameter("base_link", "lbr_link_0")
-        self.declare_parameter("end_effector_link", "lbr_link_ee")
+        self.declare_parameter("base_link", "link_0")
+        self.declare_parameter("end_effector_link", "link_ee")
 
         self.init_ = False
         self.lbr_state_ = LBRState()

diff --git a/...emos_fri_ros2_advanced_python/lbr_demos_fri_ros2_advanced_python/admittance_controller.py b/...emos_fri_ros2_advanced_python/lbr_demos_fri_ros2_advanced_python/admittance_controller.py
@@ -8,8 +8,8 @@ class AdmittanceController(object):
     def __init__(
         self,
         robot_description: str,
-        base_link: str = "lbr_link_0",
-        end_effector_link: str = "lbr_link_ee",
+        base_link: str = "link_0",
+        end_effector_link: str = "link_ee",
         f_ext_th: np.ndarray = np.array([2.0, 2.0, 2.0, 0.5, 0.5, 0.5]),
         dq_gain: np.ndarray = np.array([1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]),
         dx_gain: np.ndarray = np.array([1.0, 1.0, 1.0, 20.0, 40.0, 60.0]),

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_python</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.2.3",
+    version="1.2.4",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/joint_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/joint_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/torque_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/torque_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/wrench_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/wrench_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_cpp</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/launch/joint_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_python/launch/joint_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/launch/torque_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_python/launch/torque_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/launch/wrench_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_python/launch/wrench_sine_overlay.launch.py
@@ -11,10 +11,9 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
     robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
     ld.add_action(
-        LBRFRIROS2Mixin.node_lbr_app(
+        LBRFRIROS2Mixin.node_app(
             parameters=[
                 robot_description,
-                LBRDescriptionMixin.param_robot_name(),
             ]
         )
     )

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_python</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.2.3",
+    version="1.2.4",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml b/lbr_demos/lbr_demos_ros2_control_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_cpp</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/src/lbr_joint_trajectory_executioner_node.cpp b/lbr_demos/lbr_demos_ros2_control_cpp/src/lbr_joint_trajectory_executioner_node.cpp
@@ -12,9 +12,7 @@
 
 class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
 public:
-  LBRJointTrajectoryExecutionerNode(const std::string &node_name,
-                                    const std::string &robot_name = "lbr")
-      : Node(node_name), robot_name_(robot_name) {
+  LBRJointTrajectoryExecutionerNode(const std::string &node_name) : Node(node_name) {
 
     joint_trajectory_action_client_ =
         rclcpp_action::create_client<control_msgs::action::FollowJointTrajectory>(
@@ -43,8 +41,7 @@ class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
     point.time_from_start.sec = sec_from_start;
 
     for (std::size_t i = 0; i < KUKA::FRI::LBRState::NUMBER_OF_JOINTS; ++i) {
-      joint_trajectory_goal.trajectory.joint_names.push_back(robot_name_ + "_A" +
-                                                             std::to_string(i + 1));
+      joint_trajectory_goal.trajectory.joint_names.push_back("A" + std::to_string(i + 1));
     }
 
     joint_trajectory_goal.trajectory.points.push_back(point);
@@ -71,7 +68,6 @@ class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
   }
 
 protected:
-  std::string robot_name_;
   rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SharedPtr
       joint_trajectory_action_client_;
 };

diff --git a/...os2_control_python/lbr_demos_ros2_control_python/lbr_joint_trajectory_executioner_node.py b/...os2_control_python/lbr_demos_ros2_control_python/lbr_joint_trajectory_executioner_node.py
@@ -9,10 +9,8 @@ class LBRJointTrajectoryExecutionerNode(Node):
     def __init__(
         self,
         node_name: str,
-        robot_name: str = "lbr",
     ) -> None:
         super().__init__(node_name=node_name)
-        self.robot_name_ = robot_name
         self.joint_trajectory_action_client_ = ActionClient(
             node=self,
             action_type=FollowJointTrajectory,
@@ -38,9 +36,7 @@ def execute(self, positions: list, sec_from_start: int = 10):
         point.time_from_start.sec = sec_from_start
 
         for i in range(7):
-            joint_trajectory_goal.trajectory.joint_names.append(
-                f"{self.robot_name_}_A{i + 1}"
-            )
+            joint_trajectory_goal.trajectory.joint_names.append(f"A{i + 1}")
 
         joint_trajectory_goal.trajectory.points.append(point)
 

diff --git a/lbr_demos/lbr_demos_ros2_control_python/package.xml b/lbr_demos/lbr_demos_ros2_control_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_python</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_ros2_control_python/setup.py b/lbr_demos/lbr_demos_ros2_control_python/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.2.3",
+    version="1.2.4",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),