Merge pull request #335 from lbr-stack/backport-334-to-jazzy

mhubii · web-flow · commit 22b2b61f7458 · 2025-12-08T14:12:22.000Z
Backport 334 to jazzy
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,10 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Jazzy v2.4.2 (2025-12-08)
+--------------------------
+* ``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
+
 Jazzy v2.4.1 (2025-12-08)
 --------------------------
 * ``lbr_bringup``: Run a single ``controller_manager`` ``spawner`` for all controllers: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/329
diff --git a/CITATION.cff b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.4.1
+version: 2.4.2
 doi: 10.21105/joss.06138
 date-released: 2025-12-08
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>2.4.1</version>
+  <version>2.4.2</version>
   <description>LBR launch files.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_demos/lbr_demos_advanced_cpp/package.xml b/lbr_demos/lbr_demos_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_advanced_cpp</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Advanced C++ demos for the lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_demos/lbr_demos_advanced_py/package.xml b/lbr_demos/lbr_demos_advanced_py/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_advanced_py</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Advanced Python demos for the lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <maintainer email="mower.chris@gmail.com">cmower</maintainer>
diff --git a/lbr_demos/lbr_demos_advanced_py/setup.py b/lbr_demos/lbr_demos_advanced_py/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="2.4.1",
+    version="2.4.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_cpp/package.xml b/lbr_demos/lbr_demos_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_cpp</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>C++ demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_demos/lbr_demos_py/package.xml b/lbr_demos/lbr_demos_py/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_py</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Python demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_demos/lbr_demos_py/setup.py b/lbr_demos/lbr_demos_py/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="2.4.1",
+    version="2.4.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_moveit/package.xml b/lbr_demos/lbr_moveit/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_moveit</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>MoveIt demos for the LBRs</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_demos/lbr_moveit/setup.py b/lbr_demos/lbr_moveit/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="2.4.1",
+    version="2.4.2",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_moveit_cpp/package.xml b/lbr_demos/lbr_moveit_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_moveit_cpp</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>Demo for using MoveIt C++ API.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_description/package.xml b/lbr_description/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_description</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>KUKA LBR description files</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_description/urdf/iiwa14/iiwa14.xacro b/lbr_description/urdf/iiwa14/iiwa14.xacro
@@ -11,6 +11,9 @@
     <xacro:arg
         name="system_config_path"
         default="$(find lbr_description)/ros2_control/lbr_system_config.yaml" />
+    <xacro:arg
+        name="joint_limits_path"
+        default="$(find lbr_description)/urdf/iiwa14/joint_limits.yaml" />
     <xacro:arg
         name="initial_joint_positions_path"
         default="$(find lbr_description)/ros2_control/initial_joint_positions.yaml" />
@@ -31,5 +34,6 @@
         robot_name="$(arg robot_name)"
         mode="$(arg mode)"
         system_config_path="$(arg system_config_path)"
+        joint_limits_path="$(arg joint_limits_path)"
         initial_joint_positions_path="$(arg initial_joint_positions_path)" />
-</robot>
+</robot>
diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
@@ -3,15 +3,13 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa14"
-        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' joint_limits_path:=^|'$(find lbr_description)/urdf/iiwa14/joint_limits.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
         <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
-        <xacro:property name="joint_limits_path"
-            value="$(find lbr_description)/urdf/iiwa14/joint_limits.yaml" />
         <xacro:property name="joint_limits" value="${xacro.load_yaml(joint_limits_path)}" />
 
         <!-- constants -->
@@ -330,4 +328,4 @@
         <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
-</robot>
+</robot>
diff --git a/lbr_description/urdf/iiwa7/iiwa7.xacro b/lbr_description/urdf/iiwa7/iiwa7.xacro
@@ -11,6 +11,9 @@
     <xacro:arg
         name="system_config_path"
         default="$(find lbr_description)/ros2_control/lbr_system_config.yaml" />
+    <xacro:arg
+        name="joint_limits_path"
+        default="$(find lbr_description)/urdf/iiwa7/joint_limits.yaml" />
     <xacro:arg
         name="initial_joint_positions_path"
         default="$(find lbr_description)/ros2_control/initial_joint_positions.yaml" />
@@ -31,5 +34,6 @@
         robot_name="$(arg robot_name)"
         mode="$(arg mode)"
         system_config_path="$(arg system_config_path)"
+        joint_limits_path="$(arg joint_limits_path)"
         initial_joint_positions_path="$(arg initial_joint_positions_path)" />
-</robot>
+</robot>
diff --git a/lbr_description/urdf/iiwa7/iiwa7_description.xacro b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
@@ -3,15 +3,13 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="iiwa7"
-        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' joint_limits_path:=^|'$(find lbr_description)/urdf/iiwa7/joint_limits.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
         <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
-        <xacro:property name="joint_limits_path"
-            value="$(find lbr_description)/urdf/iiwa7/joint_limits.yaml" />
         <xacro:property name="joint_limits" value="${xacro.load_yaml(joint_limits_path)}" />
 
         <!-- constants -->
@@ -331,4 +329,4 @@
         <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
-</robot>
+</robot>
diff --git a/lbr_description/urdf/med14/med14.xacro b/lbr_description/urdf/med14/med14.xacro
@@ -11,6 +11,9 @@
     <xacro:arg
         name="system_config_path"
         default="$(find lbr_description)/ros2_control/lbr_system_config.yaml" />
+    <xacro:arg
+        name="joint_limits_path"
+        default="$(find lbr_description)/urdf/med14/joint_limits.yaml" />
     <xacro:arg
         name="initial_joint_positions_path"
         default="$(find lbr_description)/ros2_control/initial_joint_positions.yaml" />
@@ -31,5 +34,6 @@
         robot_name="$(arg robot_name)"
         mode="$(arg mode)"
         system_config_path="$(arg system_config_path)"
+        joint_limits_path="$(arg joint_limits_path)"
         initial_joint_positions_path="$(arg initial_joint_positions_path)" />
-</robot>
+</robot>
diff --git a/lbr_description/urdf/med14/med14_description.xacro b/lbr_description/urdf/med14/med14_description.xacro
@@ -3,15 +3,13 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med14"
-        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' joint_limits_path:=^|'$(find lbr_description)/urdf/med14/joint_limits.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
         <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
-        <xacro:property name="joint_limits_path"
-            value="$(find lbr_description)/urdf/med14/joint_limits.yaml" />
         <xacro:property name="joint_limits" value="${xacro.load_yaml(joint_limits_path)}" />
 
         <!-- constants -->
@@ -331,4 +329,4 @@
         <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
-</robot>
+</robot>
diff --git a/lbr_description/urdf/med7/med7.xacro b/lbr_description/urdf/med7/med7.xacro
@@ -11,6 +11,9 @@
     <xacro:arg
         name="system_config_path"
         default="$(find lbr_description)/ros2_control/lbr_system_config.yaml" />
+    <xacro:arg
+        name="joint_limits_path"
+        default="$(find lbr_description)/urdf/med7/joint_limits.yaml" />
     <xacro:arg
         name="initial_joint_positions_path"
         default="$(find lbr_description)/ros2_control/initial_joint_positions.yaml" />
@@ -31,5 +34,6 @@
         robot_name="$(arg robot_name)"
         mode="$(arg mode)"
         system_config_path="$(arg system_config_path)"
+        joint_limits_path="$(arg joint_limits_path)"
         initial_joint_positions_path="$(arg initial_joint_positions_path)" />
-</robot>
+</robot>
diff --git a/lbr_description/urdf/med7/med7_description.xacro b/lbr_description/urdf/med7/med7_description.xacro
@@ -3,15 +3,13 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
     <xacro:macro name="med7"
-        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
+        params="robot_name:=^|lbr mode:=^|mock system_config_path:=^|'$(find lbr_description)/ros2_control/lbr_system_config.yaml' joint_limits_path:=^|'$(find lbr_description)/urdf/med7/joint_limits.yaml' initial_joint_positions_path:=^|'$(find lbr_description)/ros2_control/initial_joint_positions.yaml'">
 
         <!-- includes -->
         <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />
         <xacro:include filename="$(find lbr_description)/ros2_control/lbr_system_interface.xacro" />
 
         <!-- joint limits via yaml -->
-        <xacro:property name="joint_limits_path"
-            value="$(find lbr_description)/urdf/med7/joint_limits.yaml" />
         <xacro:property name="joint_limits" value="${xacro.load_yaml(joint_limits_path)}" />
 
         <!-- constants -->
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/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_fri_ros2</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS
     2. Robot states can be extracted and commanded.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/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_fri_ros2_stack</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/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_ros2_control</name>
-  <version>2.4.1</version>
+  <version>2.4.2</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
