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Merge pull request #117 from lbr-stack/dev-humble-ignition-gazebo
Humble ignition gazebo
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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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Humble v2.1.1 (2024-09-27)
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--------------------------
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* 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).
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* ``lbr_bringup``: Updated launch files and dependencies.
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* ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble).
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* ``lbr_ros2_control``: Changed ``gazebo_ros2_control/GazeboSystem`` -> ``ign_ros2_control/IgnitionSystem```
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Humble v2.1.0 (2024-09-10)
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--------------------------
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* De-couple launch files from ``lbr_bringup`` for easier customization (breaking change):

‎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: 2.1.0
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version: 2.1.1
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doi: 10.48550/arXiv.2311.12709
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date-released: 2024-09-10
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date-released: 2024-09-27

‎lbr_bringup/launch/gazebo.launch.py‎

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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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spawn_entity = GazeboMixin.node_spawn_entity(
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tf=world_robot_tf
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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(tf=world_robot_tf)
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) # spawns robot in Gazebo through robot_description topic of robot_state_publisher
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ld.add_action(spawn_entity)
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# controllers
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joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(

‎lbr_bringup/launch/move_group.launch.py‎

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"robot_description_semantic",
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PathJoinSubstitution([robot_name, "robot_description_semantic"]),
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),
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(
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"recognized_object_array",
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PathJoinSubstitution([robot_name, "recognized_object_array"]),
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),
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],
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condition=IfCondition(LaunchConfiguration("rviz")),
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)

‎lbr_bringup/lbr_bringup/gazebo.py‎

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PythonLaunchDescriptionSource(
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PathJoinSubstitution(
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[
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FindPackageShare("gazebo_ros"),
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FindPackageShare("ros_gz_sim"),
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"launch",
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"gazebo.launch.py",
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"gz_sim.launch.py",
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]
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)
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),
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),
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launch_arguments={"gz_args": "-r empty.sdf"}.items(),
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**kwargs,
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)
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@staticmethod
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def node_spawn_entity(
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def node_create(
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robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
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"robot_name", default="lbr"
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),
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label = ["-x", "-y", "-z", "-R", "-P", "-Y"]
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tf = [str(x) for x in tf]
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return Node(
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package="gazebo_ros",
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executable="spawn_entity.py",
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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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"-entity",
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"-name",
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robot_name,
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"-allow_renaming",
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]
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+ [item for pair in zip(label, tf) for item in pair],
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output="screen",
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namespace=robot_name,
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**kwargs,
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)
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@staticmethod
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def node_clock_bridge(**kwargs) -> Node:
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return 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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**kwargs,
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)

‎lbr_bringup/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>lbr_bringup</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>LBR launch files.</description>
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<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<exec_depend>lbr_description</exec_depend>
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<exec_depend>lbr_fri_ros2</exec_depend>
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<exec_depend>lbr_ros2_control</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>ign_ros2_control</exec_depend>
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<exec_depend>joint_state_broadcaster</exec_depend>
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<exec_depend>joint_trajectory_controller</exec_depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>lbr_description</exec_depend>
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<exec_depend>lbr_fri_ros2</exec_depend>
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<exec_depend>lbr_ros2_control</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>gazebo_ros</exec_depend>
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<exec_depend>gazebo_ros2_control</exec_depend>
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<exec_depend>ros_gz_sim</exec_depend>
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<exec_depend>ros_gz_bridge</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>xacro</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎lbr_demos/lbr_demos_advanced_cpp/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>lbr_demos_advanced_cpp</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>Advanced C++ demos for the lbr_ros2_control.</description>
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<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
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<license>Apache License 2.0</license>

‎lbr_demos/lbr_demos_advanced_py/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>lbr_demos_advanced_py</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>Advanced Python demos for the lbr_ros2_control.</description>
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<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
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<maintainer email="mower.chris@gmail.com">cmower</maintainer>

‎lbr_demos/lbr_demos_advanced_py/setup.py‎

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setup(
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name=package_name,
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version="2.1.0",
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version="2.1.1",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", ["resource/" + package_name]),

‎lbr_demos/lbr_demos_cpp/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>lbr_demos_cpp</name>
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<version>2.1.0</version>
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<version>2.1.1</version>
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<description>C++ demos for lbr_ros2_control.</description>
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<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
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<license>Apache License 2.0</license>

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