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Merge pull request #332 from lbr-stack/backport-331-to-jazzy
Backport 331 to jazzy
2 parents 808bb07 + ad3b17d commit c010905

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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 v2.4.1 (2025-12-08)
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--------------------------
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* ``lbr_bringup``: Run a single ``controller_manager`` ``spawner`` for all controllers: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/329
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Jazzy v2.4.0 (2025-12-06)
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--------------------------
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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)

‎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: 2.4.0
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version: 2.4.1
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doi: 10.21105/joss.06138
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date-released: 2025-12-06
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date-released: 2025-12-08

‎lbr_bringup/launch/gazebo.launch.py‎

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@@ -34,14 +34,10 @@ def generate_launch_description() -> LaunchDescription:
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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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# controllers
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joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
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controller="joint_state_broadcaster"
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)
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ld.add_action(joint_state_broadcaster)
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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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controller=LaunchConfiguration("ctrl")
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controllers=["joint_state_broadcaster", LaunchConfiguration("ctrl")]
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)
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)
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return ld

‎lbr_bringup/launch/hardware.launch.py‎

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@@ -1,6 +1,4 @@
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from launch import LaunchDescription
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from launch.actions import RegisterEventHandler
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from launch.event_handlers import OnExecutionComplete, OnProcessStart
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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.ros2_control import LBRROS2ControlMixin
@@ -31,45 +29,16 @@ def generate_launch_description() -> LaunchDescription:
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ros2_control_node = LBRROS2ControlMixin.node_ros2_control(use_sim_time=False)
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ld.add_action(ros2_control_node)
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# controllers on ros2 control node start
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joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
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controller="joint_state_broadcaster"
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)
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estimated_wrench_interface = LBRROS2ControlMixin.node_controller_spawner(
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controller="estimated_wrench_interface"
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)
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lbr_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
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controller="lbr_state_broadcaster"
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)
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preceding_controllers_event_handler = RegisterEventHandler(
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OnProcessStart(
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target_action=ros2_control_node,
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on_start=[
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joint_state_broadcaster,
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estimated_wrench_interface,
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lbr_state_broadcaster,
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],
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)
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)
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ld.add_action(preceding_controllers_event_handler)
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# controllers on estimated wrench interface
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force_torque_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
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controller="force_torque_broadcaster"
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)
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controller = LBRROS2ControlMixin.node_controller_spawner(
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controller=LaunchConfiguration("ctrl")
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)
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controller_event_handler = RegisterEventHandler(
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OnExecutionComplete(
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target_action=estimated_wrench_interface, # estimated wrench interface is chained and exposes external wrench estimate state interfaces
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on_completion=[
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force_torque_broadcaster,
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controller,
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],
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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=[
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"joint_state_broadcaster",
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"estimated_wrench_interface",
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"lbr_state_broadcaster",
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"force_torque_broadcaster",
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LaunchConfiguration("ctrl"),
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]
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)
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)
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ld.add_action(controller_event_handler)
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return ld

‎lbr_bringup/launch/mock.launch.py‎

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@@ -1,6 +1,4 @@
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from launch import LaunchDescription
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from launch.actions import RegisterEventHandler
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from launch.event_handlers import OnProcessStart
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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.ros2_control import LBRROS2ControlMixin
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ros2_control_node = LBRROS2ControlMixin.node_ros2_control(use_sim_time=False)
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ld.add_action(ros2_control_node)
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# joint state broad caster and controller on ros2 control node start
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joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
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controller="joint_state_broadcaster"
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)
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controller = LBRROS2ControlMixin.node_controller_spawner(
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controller=LaunchConfiguration("ctrl")
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)
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controller_event_handler = RegisterEventHandler(
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OnProcessStart(
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target_action=ros2_control_node,
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on_start=[
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joint_state_broadcaster,
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controller,
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],
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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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)
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ld.add_action(controller_event_handler)
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return ld

‎lbr_bringup/lbr_bringup/ros2_control.py‎

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from typing import Dict, Optional, Union
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from typing import Dict, List, Optional, Union
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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description="Desired default controller. One of specified in ctrl_cfg.",
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choices=[
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"admittance_controller",
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"joint_trajectory_controller",
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"forward_position_controller",
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"joint_trajectory_controller",
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"lbr_joint_position_command_controller",
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"lbr_torque_command_controller",
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"lbr_wrench_command_controller",
@@ -112,20 +112,20 @@ def node_controller_spawner(
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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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controller: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
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"ctrl"
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),
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controllers: Optional[List[Union[LaunchConfiguration, str]]] = [
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LaunchConfiguration("ctrl")
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],
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**kwargs,
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) -> Node:
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return 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,
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"--controller-manager",
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"controller_manager",
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],
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]
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+ controllers,
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namespace=robot_name,
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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>2.4.0</version>
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<version>2.4.1</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-2.0</license>

‎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>2.4.0</version>
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<version>2.4.1</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-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>2.4.0</version>
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<version>2.4.1</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="2.4.0",
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version="2.4.1",
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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]),

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