CHANGELOG.rst

Changelog for package LBR FRI ROS 2 Stack

Humble v2.1.1 (2024-09-27)

• Adds support for the new Gazebo and removes support for Gazebo Classic (End-of-Life January 2025, refer https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563).
  • lbr_bringup: Updated launch files and dependencies.
  • lbr_description: Updated <gazebo> tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble).
  • lbr_ros2_control: Changed gazebo_ros2_control/GazeboSystem -> ign_ros2_control/IgnitionSystem`

Humble v2.1.0 (2024-09-10)

• De-couple launch files from lbr_bringup for easier customization (breaking change):
  • Removed sim:=true / false argument from launch files in favor of dedicated launch files (since no feature parity between simulation and real robot)
  • MoveIt and RViz need to be launched separately now
  • User can now launch via:
    • ros2 launch lbr_bringup mock.launch.py (new: mock system)
    • ros2 launch lbr_bringup hardware.launch.py (real robot)
    • ros2 launch lbr_bringup gazebo.launch.py (Gazebo simulation)
• Added mock hardware to lbr_ros2_control (for simple ros2_control testing without the need for Gazebo, refer https://control.ros.org/humble/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
• Updated documentation

Humble v2.0.0 (2024-07-08)

• Remove app.launch.py from demos in favor for ros2_control variant (breaking change)
• lbr_ros2_control:
  • Add Cartesian impedance controller
  • Add lbr_system_parameters.yaml for system parameter configuration
• lbr_demos:
  • Remove legacy demos
  • Add demo for each available controller, both in C++ and Python
• lbr_fri_ros2: De-couple the async client into position / torque / wrench
• Matrix testing against multiple FRIs (https://github.com/lbr-stack/fri): 1.11, 1.14, 1.15, 1.16, 2.5, 2.7
• IDL changes: (breaking change)
  • lbr_fri_msgs to lbr_fri_idl
  • Moved lbr_fri_idl into external folder (https://github.com/lbr-stack/lbr_fri_idl) for supporting multiple FRI versions
  • Renamed LBRPositionCommand to LBRJointPositionCommand
• Update documentation
  • Refer https://lbr-stack.readthedocs.io/en/latest/
  • Deletes branches at https://github.com/lbr-stack/lbr_stack_doc in favor of tags
  • Adds an architecture chart to highlight lbr_ros2_control relation to ros2_control
• Add log coloring a la https://github.com/ros-controls/ros2_control/blob/e149646d3f2595f269cfa4e1cd0681abde89ee69/controller_manager/controller_manager/spawner.py#L45
• Adds black linting for Python scripts
• Fixes velocity limit checks in impedance control mode
• Add development tools dependency #145
• ros2_control_node: Read robot description from robot state publisher
• Add tests to lbr_fri_idl and lbr_fri_ros2
• Moves all launch mixins to lbr_bringup
• Update parameter source for gazebo_ros2_control package in lbr.gazebo.xacro

Humble v1.4.3 (2024-02-03)

• Fixes planning scene namespace #153
• Refers to #155

Humble v1.4.2 (2023-12-29)

• Fixes cartesian path for move group node with namespace: #133
• Solution @josefinemonnet: moveit/moveit2#2545 (comment)
• Refers to #146

Humble v1.4.1 (2023-12-15)

• Removes the base_frame parameter from lbr_bringup, lbr_description, lbr_fri_ros2, lbr_ros2_control
• Updates RViz default config in lbr_moveit_config
• Refers to #144

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
    • Force-torque now available under /lbr/force_torque_broadcaster/wrench
    • Namespace issues since lbr_controllers.yaml includes namespace in frame_id parameter
  • 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
• Adds this changelog with release notes
• Refers to #142

Humble v1.3.1 (2023-11-21)

• v1.3.0 Gazebo namespace fixes in #123
• Fix iiwa ee link in #126
• Humble v.1.3.1 in #130
• Full log: https://github.com/lbr-stack/lbr_fri_ros2_stack/compare/humble-v1.3.0-beta...humble-v1.3.1

Humble v1.3.0 beta (2023-10-03)

• Namespaced robot_description and joint_states
• De-coupled commands, user will interact through LBRPositionCommand, LBRTorqueCommand, LBRWrenchCommand
• Multi-robot support
• New command / state interfaces in lbr_fri_ros2
• Topic free ros2_control support through command / state interfaces in lbr_fri_ros2
• Intraprocess cpp admittance demo
• New app component based on command / state interfaces in lbr_fri_ros2
• Refers to #121

Humble v1.2.5 (2023-09-08)

• Updated visualization (STL -> DAE files with materials, might occur dark in Gazebo, caused by lack of light)
• Fixes joint bug in Gazebo
• Improved logging in command guard

Humble v1.2.4 (2023-08-09)

• Remove robot name from configs and use frame_prefix from robot state publisher instead
• Removed robot name from joint names, e.g. lbr_A1 -> A1
• Added PID for asynchronous control rate
• Simplified class names, e.g. LBRApp -> App
• Add utils.hpp for PID and exponential filter

Humble v1.2.3 (2023-08-07)

• Utilizes FRI through vendor package for common fri source in https://github.com/lbr-stack/
• Addresses some of #85
• Give command guard only logger interface
• Fix open loop bug
• Adds real-time priority via rt_prio parameter

Humble v1.2.2 (2023-08-05)

• Adds base frame parameter to URDF and launch
• Adds an open loop option to control the robot, which works extremely well
• Updates logo in readme
• Updates joint names to KUKA convention, i.e. A1,...

Humble v1.2.1 (2023-08-04)

• Stack's new home at: https://github.com/lbr-stack

Humble v1.2.0 (2023-08-03)

• Re-introduces MoveIt, refer to #52
• Moves demo prefix to front for improved package overview
• Single node for hardware interface
• Static executors where possible
• Adds plenty documentation
• Introduce /lbr, i.e. robot name, namespace to LBRClient for better multi-robot support. Commands / states now e.g. published to /lbr/command / /lbr/state
• Hardware interface exact limits (stand-alone use has safety-limits)
• Gives command guard a node handle