Merge pull request #323 from lbr-stack/backport-322-to-jazzy

Backport 322 to jazzy

Author: mhubii

CHANGELOG.rst

@@ -1,6 +1,14 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Jazzy v2.4.0 (TBD)
+--------------------------
+* ``lbr_ros2_control``:
+
+  * ``/lbr/state`` -> ``/lbr/lbr_state`` consistent with https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/271.
+  * Fixes missing integration step in the admittance controller: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/320.
+  * Exit ``on_activate`` in ``lbr_ros2_control::SystemInterface`` with error on ``IDLE``: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/321.
+
 Jazzy v2.3.0 (2025-11-21)
 --------------------------
 * ``lbr_fri_ros2``:

lbr_demos/lbr_demos_advanced_cpp/src/lbr_base_position_command_node.hpp

@@ -25,7 +25,7 @@ class LBRBasePositionCommandNode : public rclcpp::Node {
         "command/lbr_joint_position_command", 1);
 
     lbr_state_sub_ = create_subscription<lbr_fri_idl::msg::LBRState>(
-        "state", 1,
+        "lbr_state", 1,
         std::bind(&LBRBasePositionCommandNode::on_lbr_state_, this, std::placeholders::_1));
   }
 

lbr_demos/lbr_demos_advanced_py/lbr_demos_advanced_py/lbr_base_position_command_node.py

@@ -30,7 +30,7 @@ def __init__(self, node_name: str) -> None:
 
         # publishers and subscribers
         self._lbr_state_sub = self.create_subscription(
-            LBRState, "state", self._on_lbr_state, 1
+            LBRState, "lbr_state", self._on_lbr_state, 1
         )
         self._lbr_joint_position_command_pub = self.create_publisher(
             LBRJointPositionCommand,

lbr_demos/lbr_demos_cpp/src/joint_sine_overlay.cpp

@@ -26,7 +26,7 @@ class JointSineOverlay {
 
     // create subscription to state
     lbr_state_sub_ = node_->create_subscription<lbr_fri_idl::msg::LBRState>(
-        "state", 1, std::bind(&JointSineOverlay::on_lbr_state_, this, std::placeholders::_1));
+        "lbr_state", 1, std::bind(&JointSineOverlay::on_lbr_state_, this, std::placeholders::_1));
 
     // get control rate from controller_manager
     auto update_rate =

lbr_demos/lbr_demos_cpp/src/torque_sine_overlay.cpp

@@ -25,7 +25,7 @@ class TorqueSineOverlay {
 
     // create subscription to state
     lbr_state_sub_ = node_->create_subscription<lbr_fri_idl::msg::LBRState>(
-        "state", 1, std::bind(&TorqueSineOverlay::on_lbr_state_, this, std::placeholders::_1));
+        "lbr_state", 1, std::bind(&TorqueSineOverlay::on_lbr_state_, this, std::placeholders::_1));
 
     // get control rate from controller_manager
     auto update_rate =

lbr_demos/lbr_demos_cpp/src/wrench_sine_overlay.cpp

@@ -27,7 +27,7 @@ class WrenchSineOverlay {
 
     // create subscription to state
     lbr_state_sub_ = node_->create_subscription<lbr_fri_idl::msg::LBRState>(
-        "state", 1, std::bind(&WrenchSineOverlay::on_lbr_state_, this, std::placeholders::_1));
+        "lbr_state", 1, std::bind(&WrenchSineOverlay::on_lbr_state_, this, std::placeholders::_1));
 
     // get control rate from controller_manager
     auto update_rate =

lbr_demos/lbr_demos_py/lbr_demos_py/joint_sine_overlay.py

@@ -28,7 +28,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to state
         self._lbr_state = None
         self._lbr_state_sub_ = self.create_subscription(
-            LBRState, "state", self._on_lbr_state, 1
+            LBRState, "lbr_state", self._on_lbr_state, 1
         )
 
         # get control rate from controller_manager

lbr_demos/lbr_demos_py/lbr_demos_py/torque_sine_overlay.py

@@ -26,7 +26,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to state
         self._lbr_state = None
         self._lbr_state_sub = self.create_subscription(
-            LBRState, "state", self._on_lbr_state, 1
+            LBRState, "lbr_state", self._on_lbr_state, 1
         )
 
         # get control rate from controller_manager

lbr_demos/lbr_demos_py/lbr_demos_py/wrench_sine_overlay.py

@@ -26,7 +26,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to state
         self._lbr_state = None
         self._lbr_state_sub = self.create_subscription(
-            LBRState, "state", self._on_lbr_state, 1
+            LBRState, "lbr_state", self._on_lbr_state, 1
         )
 
         # get control rate from controller_manager

lbr_description/ros2_control/lbr_controllers.yaml

@@ -100,8 +100,8 @@
   ros__parameters:
     robot_name: lbr
     admittance:
-      mass: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
-      damping: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+      mass: [0.05, 0.05, 0.05, 0.005, 0.005, 0.005]
+      damping: [1., 1., 1., 0.1, 0.1, 0.1]
       stiffness: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
     inv_jac_ctrl:
       chain_root: lbr_link_0