Jazzy-v2.4.3

Summary

Uses declarative launch files, as explained in ROSCon livestream at 6 hours, 10 minutes.

Changes

• lbr_bringup: Switched to declarative launch files and removed mixins from launch files: #338

Related pull requests

• #339

Jazzy-v2.4.2

Summary

Gives user the option to add to configure a joint_limits_path for configurable joint limits.

Changes

• 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): #333. See e.g. here: https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/22b2b61f7458faaab2026cfeea862bd14758e124/lbr_description/urdf/iiwa7/iiwa7.xacro#L14

Related pull requests

• #334

Jazzy-v2.4.1

Summary

Fixes the previously redundant calls to multiple spawners.

Changes

• lbr_bringup: Run a single controller_manager spawner for all controllers: #329

Related pull requests

• #331

Jazzy-v2.4.0

Summary

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.

Changes

• 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: #313
• lbr_ros2_control:
  • 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: #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: #314
    • lbr_ros2_control::LBRStateBroadcaster:
      • /lbr/state -> /lbr/lbr_state consistent with #271
      • Removed deprecated trylock() from lbr_ros2_control::LBRStateBroadcaster: ros-controls/realtime_tools#323
  • lbr_ros2_control::AdmittanceController:
    • Fixed missing integration step in the admittance controller: #320
    • Added an adjustable load data safety tolerance: #325
    • Replaced veloctiy command filtering with force state filtering: #327

Related pull requests

• Twist clamping and lbr_ros2_control::TwistController controller updates: #315
• lbr_ros2_control::AdmittanceController integration step and lbr_ros2_control::SystemInterface::on_activate exit: #322
• lbr_ros2_control::SystemInterface force-torque estimation removal (including new chainable controller): #324

Humble-v2.2.2

• lbr_fri_ros2: Fixes the twist clipping bug #313

Jazzy-v2.3.0

• 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 (prevents #235).
  • 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, see joint_limits.yaml.
  • Added <safety_controller/> tag to URDF files. Note, in Jazzy this is only utilised when enforce_command_limits:=true for the controller manager (here, default configured in lbr_controllers.yaml).
• lbr_ros2_control:
  • 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 (refer any_external_force_torques_on_horizon_, prevents #235). 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.
    • LBRWrenchCommandController (⚠️ uses Cartesian impedance) is now a ChainableControllerInterface to support separate wrench and joint position commands: #250
    • 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
      • /lbr/torque -> /lbr/lbr_torque_command
      • /lbr/joint_position -> /lbr/lbr_joint_position_command (for consitency)

Humble-v2.2.1

• lbr_bringup: Removed static broadcasters from launch files: #264 @Khouloud-Hamrouni
• lbr_description:
  • Decimate collision meshes for faster Gazebo simulation: #262 @mhubii
  • Added world link to xacro files (fixes robot to Gazebo world): #264 @Hydran00, @Khouloud-Hamrouni
• lbr_demos_cpp: Added missing robot name prefix to joint names: #258 @Khouloud-Hamrouni
• lbr_demos_py: Added missing robot name prefix to joint names: #259 @Khouloud-Hamrouni
• lbr_ros2_control: Update deprecated headers #267, #269 @mhubii
• lbr_fri_ros2: Fixes for compliant control modes.
  • Fixed a bug that wouldn't forward torques / wrenches: #233 @Hydran00, @matteodv99tn
  • Enforce open_loop=false (position) for compliant controllers: #237 @mhubii, @anselmo-parnada, @Hydran00
• lbr_fri_ros2_stack: Repositories file for FRI 2.6: #248 @matija9

Humble-v2.2.0

This release backports new rolling features to humble. Following has changed:

• Related PRs:
  • #213 and #214
    • Joints and links are now prefixed with lbr_ (i.e. the robot name)
    • Robot state publisher has no lbr/ prefix anymore
    • Asynchronous + deactivateable force-torque estimation from external torques (previously synchronous):
      https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/32d8c78f3644576cf1d98e2c2598aa11d3ba1077/lbr_description/ros2_control/lbr_system_config.yaml#L26
    • Issue with setting real-time priority fixed
    • Modifiable source for lbr_system_config.yaml in launch files
  • #220
    • PID on joint position commands replaced by simpler exponential filter (⚠️ please test your own controls in T1 mode, as they might be affected)
    • Introduction of twist and admittance controllers, run e.g. with (also see documentation https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.html#twist-controller):

      ros2 launch lbr_bringup hardware.launch.py ctrl:=twist_controller

    • Configurations from lbr_ros2_control now in lbr_description (for stand alone URDF use): https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_description/ros2_control

Humble-v2.1.2

Adds MoveIt Servo launch and demo usage:

• Documentation: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/lbr_moveit/doc/lbr_moveit.html#moveit-servo
• lbr_bringup: New launch mixin and launch file for MoveIt Servo
• lbr_moveit: New keyboard driver to interface with MoveIt Servo

Humble-v2.1.1

Adds support for the the new Gazebo, removes support for Gazebo Classic (End-of-Life January 2025, see https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563)

gazebo_iiwa_example.mp4