Humble-v1.4.0

• 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

force_torque_indicator.mp4

• 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

What's Changed

• v1.3.0 Gazebo namespace fixes by @mhubii in #123
• Fix iiwa ee link by @mhubii in #126
• Humble v.1.3.1 by @mhubii in #130

Full Changelog: humble-v1.3.0-beta...humble-v1.3.1

Special thanks to @ardiya, @Tianhuanyu, @CarlDegio, @EliasTDam for their contributions.

Humble-v1.3.0-beta

• 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

Refer to #121

Foxy-v1.1.5

• Backport Humble v1.2.5 https://github.com/lbr-stack/lbr_fri_ros2_stack/releases/tag/humble-v1.2.5 to foxy
• Fixes simulation launch #51

Humble-v1.2.5

• 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

• 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

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

Foxy-v1.1.3

Adds Humble v1.2.3 except:

• lbr_moveit_config
• lbr_bringup

Humble-v1.2.2

• 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

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