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Merge pull request #340 from lbr-stack/backport-339-to-jazzy
Backport 339 to jazzy
2 parents 22b2b61 + 60356f8 commit 14ecad8

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‎CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package LBR FRI ROS 2 Stack
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Jazzy v2.4.3 (2025-12-09)
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--------------------------
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* ``lbr_bringup``: Switched to declarative launch files and removed mixins from launch files: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/338
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Jazzy v2.4.2 (2025-12-08)
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--------------------------
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* ``lbr_description``: Added ``joint_limits_path`` argument to ``xacro`` files (defaults to KUKA values and user will currently need a custom launch file to configure): https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/333

‎CITATION.cff‎

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2020

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title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
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version: 2.4.2
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version: 2.4.3
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doi: 10.21105/joss.06138
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date-released: 2025-12-08
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date-released: 2025-12-09

‎lbr_bringup/doc/lbr_bringup.rst‎

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@@ -6,24 +6,18 @@ The ``lbr_bringup`` package hosts some launch files, which can be included via s
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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ld = LaunchDescription()
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ld.add_action(
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return LaunchDescription(
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("lbr_bringup"),
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"launch",
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"mock.launch.py",
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]
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)
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),
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PathSubstitution(
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FindPackageShare("lbr_bringup") / "launch" / "mock.launch.py"
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)
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)
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)
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return ld
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The launch files can also be run via the command line, as further described below.
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@@ -153,15 +147,9 @@ The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/
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def generate_launch_description() -> LaunchDescription:
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ld = LaunchDescription()
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# launch arguments
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ld.add_action(RVizMixin.arg_rviz_cfg())
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ld.add_action(RVizMixin.arg_rviz_cfg_pkg())
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# rviz
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ld.add_action(RVizMixin.node_rviz())
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return ld
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return LaunchDescription(
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[RVizMixin.arg_rviz_cfg(), RVizMixin.arg_rviz_cfg_pkg(), RVizMixin.node_rviz()]
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)
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Which is quite compact and easy to read.
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@@ -183,5 +171,5 @@ Troubleshooting
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---------------
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Noisy Execution
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~~~~~~~~~~~~~~~
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- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_description/ros2_control/lbr_controllers.yaml>`_:octicon:`link-external`.
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- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `hardware_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_description/ros2_control/hardware_controllers.yaml>`_:octicon:`link-external`.
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- Realtime priority: Set real time priority in ``code /etc/security/limits.conf``, add the line: ``user - rtprio 99``, where user is your username.

‎lbr_bringup/launch/gazebo.launch.py‎

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from launch import LaunchDescription
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from launch.substitutions import LaunchConfiguration
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from lbr_bringup.description import LBRDescriptionMixin
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from lbr_bringup.gazebo import GazeboMixin
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from lbr_bringup.ros2_control import LBRROS2ControlMixin
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.substitutions import (
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Command,
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FindExecutable,
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LaunchConfiguration,
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PathSubstitution,
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)
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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ld = LaunchDescription()
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# launch arguments
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ld.add_action(LBRDescriptionMixin.arg_model())
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ld.add_action(LBRDescriptionMixin.arg_robot_name())
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ld.add_action(LBRROS2ControlMixin.arg_init_jnt_pos())
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ld.add_action(
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LBRROS2ControlMixin.arg_ctrl()
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) # Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_description/ros2_control/lbr_controllers.yaml
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# robot description
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robot_description = LBRDescriptionMixin.param_robot_description(mode="gazebo")
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# robot state publisher
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robot_state_publisher = LBRROS2ControlMixin.node_robot_state_publisher(
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robot_description=robot_description, use_sim_time=True
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)
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ld.add_action(
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robot_state_publisher
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) # Do not condition robot state publisher on joint state broadcaster as Gazebo uses robot state publisher to retrieve robot description
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# Gazebo
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ld.add_action(GazeboMixin.include_gazebo()) # Gazebo has its own controller manager
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ld.add_action(GazeboMixin.node_clock_bridge())
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ld.add_action(
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GazeboMixin.node_create()
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) # spawns robot in Gazebo through robot_description topic of robot_state_publisher
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# spawn controllers
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ld.add_action(
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LBRROS2ControlMixin.node_controller_spawner(
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controllers=["joint_state_broadcaster", LaunchConfiguration("ctrl")]
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)
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return LaunchDescription(
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[
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DeclareLaunchArgument(
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name="model",
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default_value="iiwa7",
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description="The LBR model in use.",
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choices=["iiwa7", "iiwa14", "med7", "med14"],
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),
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DeclareLaunchArgument(
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name="robot_name",
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default_value="lbr",
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description="The robot's name.",
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),
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DeclareLaunchArgument(
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name="init_jnt_pos_pkg",
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default_value="lbr_description",
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description="Package containing the initial_joint_positions.yaml file.",
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),
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DeclareLaunchArgument(
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name="init_jnt_pos",
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default_value="ros2_control/initial_joint_positions.yaml",
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description="The relative path from sys_cfg_pkg to the initial_joint_positions.yaml file.",
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),
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DeclareLaunchArgument(
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name="ctrl",
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default_value="joint_trajectory_controller",
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description="Desired default controller. Gazebo loads controller configuration through lbr_description/gazebo/*.xacro from lbr_description/ros2_control/gazebo_controllers.yaml.",
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choices=[
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"forward_position_controller",
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"joint_trajectory_controller",
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],
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),
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Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="screen",
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parameters=[
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{
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"robot_description": Command(
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[
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FindExecutable(name="xacro"),
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" ",
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PathSubstitution(FindPackageShare("lbr_description"))
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/ "urdf"
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/ LaunchConfiguration("model")
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/ LaunchConfiguration("model"),
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".xacro",
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" robot_name:=",
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LaunchConfiguration("robot_name"),
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" mode:=gazebo",
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" initial_joint_positions_path:=",
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PathSubstitution(
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FindPackageShare(
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LaunchConfiguration("init_jnt_pos_pkg")
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)
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)
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/ LaunchConfiguration(
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"init_jnt_pos",
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),
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]
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)
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},
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{"use_sim_time": True},
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],
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namespace=LaunchConfiguration("robot_name"),
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),
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IncludeLaunchDescription(
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PathSubstitution(
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FindPackageShare("ros_gz_sim"),
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)
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/ "launch"
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/ "gz_sim.launch.py",
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launch_arguments={"gz_args": "-r empty.sdf"}.items(),
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), # Gazebo has its own controller manager
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Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
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output="screen",
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),
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Node(
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package="ros_gz_sim",
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executable="create",
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arguments=[
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"-topic",
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"robot_description",
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"-name",
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LaunchConfiguration("robot_name"),
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"-allow_renaming",
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"-x",
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"0.0",
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"-y",
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"0.0",
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"-z",
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"0.0",
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"-R",
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"0.0",
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"-P",
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"0.0",
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"-Y",
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"0.0",
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],
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output="screen",
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namespace=LaunchConfiguration("robot_name"),
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), # spawns robot in Gazebo through robot_description topic of robot_state_publisher
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Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=[
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"--controller-manager",
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"controller_manager",
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"joint_state_broadcaster",
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LaunchConfiguration("ctrl"),
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],
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namespace=LaunchConfiguration("robot_name"),
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),
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]
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)
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return ld

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