Merge pull request #328 from lbr-stack/backport-324-to-jazzy

Backport 324 to jazzy

Author: mhubii

CHANGELOG.rst

@@ -1,33 +1,66 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Jazzy v2.4.0 (TBD)
+Jazzy v2.4.0 (2025-12-06)
 --------------------------
+This release removes the asynchronous force-torque estimation from the system interface (introduced in https://github.com/lbr-stack/lbr_fri_ros2_stack/releases/tag/humble-v2.2.0)
+and instead provides a synchronous estimation in the form of a chainable ROS 2 controller. It further adds some controller updates, API fixes, and safety improvements. 
+
+* ``lbr_bringup``: Added new chainable wrench interface controller to ``hardware.launch.py`` and added launch event handler for preceeding controllers 
+* ``lbr_demos``: Updated topics ``/lbr/state`` -> ``/lbr/lbr_state``
+* ``lbr_description``:
+
+  * Removed now redundant ``estimated_ft_sensor`` from ``lbr_system_config.yaml`` and removed thus unused ``hardware`` prefix
+  * Removed all ``hardware`` specifiers from ``lbr_system_interface.xacro``
+* ``lbr_fri_ros2``:
+
+  * Removed now redundant asynchronous ``lbr_fri_ros2::FTEstimator`` worker (also removed from ``lbr_ros2_control::SystemInterface``)
+  * Renamed ``lbr_fri_ros::FTEstimatorImpl`` -> ``lbr_fri_ros2::WrenchEstimator``
+  * Fixed twist clamping bug: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/313
 * ``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.
+  * Changes to ``lbr_ros2_control::SystemInterface``:
+
+    * Removed force-torque estimation from ``lbr_ros2_control::SystemInterface``
+    * Exit ``on_activate`` in ``lbr_ros2_control::SystemInterface`` with error on ``IDLE``: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/321
+  * Changes to controllers:  
+
+    * ``lbr_ros2_control::EstimatedWrenchInterface``: Added new chainable controller for synchronous force-torque estimation and state interface
+    * ``lbr_ros2_control::TwistController``: Stop twist controller on any joint limits: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/314
+    * ``lbr_ros2_control::LBRStateBroadcaster``:
+
+      * ``/lbr/state`` -> ``/lbr/lbr_state`` consistent with https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/271
+      * Removed deprecated ``trylock()`` from ``lbr_ros2_control::LBRStateBroadcaster``: https://github.com/ros-controls/realtime_tools/pull/323
+  * ``lbr_ros2_control::AdmittanceController``:
+
+    * Fixed missing integration step in the admittance controller: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/320
+    * Added an adjustable load data safety tolerance: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/325
+    * Replaced veloctiy command filtering with force state filtering: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/327
+* Related pull requests:
+
+  * Twist clamping and ``lbr_ros2_control::TwistController`` controller updates: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/315
+  * ``lbr_ros2_control::AdmittanceController`` integration step and ``lbr_ros2_control::SystemInterface::on_activate`` exit: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/322
+  * ``lbr_ros2_control::SystemInterface`` force-torque estimation removal (including new chainable controller): https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/324
 
 Jazzy v2.3.0 (2025-11-21)
 --------------------------
 * ``lbr_fri_ros2``:
 
   * Interfaces now default to return by value for simplicity.
-  * Added a new ``StateGuard`` that tests for load data calibration on activation in compliant control modes and shuts the connection otherwise.
-  * Instead of disconnecting on ``CommandGuard`` limits, ``CommandInterfaces`` now execute a neutral command.
+  * Added a new ``StateGuard`` that tests for load data calibration on activation in compliant control modes and shuts the connection otherwise
+  * Instead of disconnecting on ``CommandGuard`` limits, ``CommandInterfaces`` now execute a neutral command
 * ``lbr_description``:
 
   * Updated joint limits (upper / lower) to be 1 degree stricter to avoid hardware limits.
   * Added ``safety_controller`` tag to URDF files. Note, in Jazzy this is only utilised when ``enforce_command_limits:=true`` for the controller manager (default configured in ``lbr_controllers.yaml`` here). 
 * ``lbr_ros2_control``:
 
-  * Migrated to Jazzy following guidelines at https://control.ros.org/jazzy/doc/ros2_control/doc/migration.html#migration-of-command-stateinterfaces.
+  * Migrated to Jazzy following guidelines at https://control.ros.org/jazzy/doc/ros2_control/doc/migration.html#migration-of-command-stateinterfaces
   * Removed the default error from ``AdmittanceController`` with the introduction of load data checks. Also now supports the default ``lbr_system_config.yaml``.
-  * WARN: KUKA's Cartesian impedance controller seems quite prone to singularities, and should thus be used with caution and only in ``T1`` mode.
+  * WARN: KUKA's Cartesian impedance controller seems quite prone to singularities, and should thus be used with caution and only in ``T1`` mode
 
     * ``LBRWrenchCommandController`` (uses Cartesian impedance) is now a ``ChainableControllerInterface`` to support separate wrench and joint position commands: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/250
-    * Future releases will chain the ``LBRTorqueCommandController``, which uses KUKA's joint impedance controller without singularity issues.
+    * Future releases will chain the ``LBRTorqueCommandController``, which uses KUKA's joint impedance controller without singularity issues
     * Topics were updated to reflect the chained controller structure:
 
       * ``/lbr/wrench`` -> ``/lbr/lbr_wrench_command``
@@ -79,10 +112,10 @@ Humble v2.1.2 (2024-10-18)
 
 Humble v2.1.1 (2024-09-27)
 --------------------------
-* 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).
+* 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)
 
   * ``lbr_bringup``: Updated launch files and dependencies.
-  * ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble). 
+  * ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble)
   * ``lbr_ros2_control``: Changed ``gazebo_ros2_control/GazeboSystem`` -> ``ign_ros2_control/IgnitionSystem```
 
 Humble v2.1.0 (2024-09-10)

CITATION.cff

@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.3.0
+version: 2.4.0
 doi: 10.21105/joss.06138
-date-released: 2025-03-26
+date-released: 2025-12-06

README.md

@@ -15,10 +15,18 @@ ROS 2 packages for the KUKA LBR, including communication to the real robot via t
             <th align="left" width="25%">LBR Med 14 R820</th>
         </tr>
         <tr>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820"></td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820">
+            </td>
         </tr>
     </table>
 </body>
@@ -86,15 +94,28 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
 Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
 
 ## Repositories Using This Project
-- [KUKA ROS2 controllers](https://github.com/idra-lab/kuka_lbr_control) — A repository for controlling KUKA LBR iiwa and med robots using various control algorithms.
+- [KUKA ROS 2 Controllers](https://github.com/idra-lab/kuka_lbr_control): A repository for controlling KUKA LBR IIWA and Med robots using various control algorithms.
 
-<div align="center">
-
-| Kinematics Control | Gravity compensation | Impedance Control |
-| :----------------- | :--------------------| :---------------- |
-| <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/kin.gif' width=360/> | <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/grav.gif' width=360/> | <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/imp.gif' width=360/> |
-
-</div>
+<body>
+    <table style="width:100%; table-layout:fixed;">
+        <tr>
+            <th  align="left" width="33%">Kinematics Control</th>
+            <th  align="left" width="33%">Gravity Compensation</th>
+            <th  align="left" width="33%">Impedance Control</th>
+        </tr>
+        <tr>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/kin.gif" alt="Kinematics Control">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/grav.gif" alt="Gravity Compensation">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/imp.gif" alt="Impedance Control">
+            </td>
+        </tr>
+    </table>
+</body>
 
 ## Citation
 If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could leave a ⭐ and / or cite it, as it helps us to continue offering support.

lbr_bringup/launch/hardware.launch.py

@@ -1,6 +1,6 @@
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessStart
+from launch.event_handlers import OnExecutionComplete, OnProcessStart
 from launch.substitutions import LaunchConfiguration
 from lbr_bringup.description import LBRDescriptionMixin
 from lbr_bringup.ros2_control import LBRROS2ControlMixin
@@ -31,27 +31,42 @@ def generate_launch_description() -> LaunchDescription:
     ros2_control_node = LBRROS2ControlMixin.node_ros2_control(use_sim_time=False)
     ld.add_action(ros2_control_node)
 
-    # joint state broad caster and controller on ros2 control node start
+    # controllers on ros2 control node start
     joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
         controller="joint_state_broadcaster"
     )
-    force_torque_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
-        controller="force_torque_broadcaster"
+    estimated_wrench_interface = LBRROS2ControlMixin.node_controller_spawner(
+        controller="estimated_wrench_interface"
     )
     lbr_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
         controller="lbr_state_broadcaster"
     )
-    controller = LBRROS2ControlMixin.node_controller_spawner(
-        controller=LaunchConfiguration("ctrl")
-    )
 
-    controller_event_handler = RegisterEventHandler(
+    preceding_controllers_event_handler = RegisterEventHandler(
         OnProcessStart(
             target_action=ros2_control_node,
             on_start=[
                 joint_state_broadcaster,
-                force_torque_broadcaster,
+                estimated_wrench_interface,
                 lbr_state_broadcaster,
+            ],
+        )
+    )
+    ld.add_action(preceding_controllers_event_handler)
+
+    # controllers on estimated wrench interface
+    force_torque_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
+        controller="force_torque_broadcaster"
+    )
+    controller = LBRROS2ControlMixin.node_controller_spawner(
+        controller=LaunchConfiguration("ctrl")
+    )
+
+    controller_event_handler = RegisterEventHandler(
+        OnExecutionComplete(
+            target_action=estimated_wrench_interface,  # estimated wrench interface is chained and exposes external wrench estimate state interfaces
+            on_completion=[
+                force_torque_broadcaster,
                 controller,
             ],
         )

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>2.3.0</version>
+  <version>2.4.0</version>
   <description>LBR launch files.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>

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>2.3.0</version>
+  <version>2.4.0</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>

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>2.3.0</version>
+  <version>2.4.0</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>

lbr_demos/lbr_demos_advanced_py/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="2.3.0",
+    version="2.4.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

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>2.3.0</version>
+  <version>2.4.0</version>
   <description>C++ demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>

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>2.3.0</version>
+  <version>2.4.0</version>
   <description>Python demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>