Merge remote-tracking branch 'origin/main' into docs/presentation-slides

Author: danielsanjosepro

.github/workflows/jazzy_ros2_ci.yml

@@ -1,6 +1,6 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-name: ROS2 humble - CI
+name: ROS 2 CI
 
 on: [push, pull_request]
 
@@ -11,13 +11,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble]
+        ROS_DISTRO: [humble, jazzy, kilted, lyrical]
         ROS_REPO: [main]
     env:
-      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"  # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
-      - uses: actions/checkout@v4 # clone target repository
-      - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/checkout@v4  # clone target repository
+      - uses: actions/cache@v4  # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}

.github/workflows/kilted_ros2_ci.yml

@@ -1,5 +1,32 @@
 # Changelog
 
+## [2.4.1](https://github.com/learnsyslab/crisp_controllers/compare/v2.4.0...v2.4.1) (2026-07-25)
+
+
+### Bug Fixes
+
+* remove rolling form industrial_ci and update readme badges ([#63](https://github.com/learnsyslab/crisp_controllers/issues/63)) ([0062739](https://github.com/learnsyslab/crisp_controllers/commit/0062739d752e76f2c0361e0ac423aeb414505b04))
+
+## [2.4.0](https://github.com/learnsyslab/crisp_controllers/compare/v2.3.1...v2.4.0) (2026-06-13)
+
+
+### Features
+
+* decouple translation from rotation in admittance MSD integration ([#57](https://github.com/learnsyslab/crisp_controllers/issues/57)) ([2df8954](https://github.com/learnsyslab/crisp_controllers/commit/2df8954a3a5f729913b9332f8d46b12f4b5917ea))
+* parameterize controller and broadcaster topics ([#60](https://github.com/learnsyslab/crisp_controllers/issues/60)) ([b39afea](https://github.com/learnsyslab/crisp_controllers/commit/b39afeaa60c9a046cfcbc46824e6ca8c91cb88ac))
+
+
+### Bug Fixes
+
+* negative nullspace damping not handled correctly ([#56](https://github.com/learnsyslab/crisp_controllers/issues/56)) ([c3af67e](https://github.com/learnsyslab/crisp_controllers/commit/c3af67e45e1940bcc557cca218657cdd1b0c5add))
+
+## [2.3.1](https://github.com/learnsyslab/crisp_controllers/compare/v2.3.0...v2.3.1) (2026-05-29)
+
+
+### Bug Fixes
+
+* validate end_effector_frame in cartesian/admittance controllers and broadcasters, drop redundant on_activate check ([#53](https://github.com/learnsyslab/crisp_controllers/issues/53)) ([4b91853](https://github.com/learnsyslab/crisp_controllers/commit/4b918539d475f72512895e418e9d0a0b2c84cc9f))
+
 ## [2.3.0](https://github.com/utiasDSL/crisp_controllers/compare/v2.2.0...v2.3.0) (2026-04-09)
 
 

.github/workflows/rolling_ros2_ci.yml

@@ -127,19 +127,31 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 
-ament_target_dependencies(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME}
   PUBLIC
-    controller_interface
-    hardware_interface
-    pluginlib
-    rclcpp
-    rclcpp_lifecycle
-    pinocchio
-    generate_parameter_library
-    realtime_tools
-    std_msgs
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_lifecycle::rclcpp_lifecycle
+    pinocchio::pinocchio
+    realtime_tools::realtime_tools
+    ${std_msgs_TARGETS}
 )
 
+# ros2_control did not export namespaced targets until after humble
+if(TARGET controller_interface::controller_interface)
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+      controller_interface::controller_interface
+      hardware_interface::hardware_interface
+  )
+else()
+  ament_target_dependencies(${PROJECT_NAME}
+    PUBLIC
+      controller_interface
+      hardware_interface
+  )
+endif()
+
 pluginlib_export_plugin_description_file(
         controller_interface crisp_controllers.xml)
 

.github/workflows/humble_ros2_ci.yml .github/workflows/ros2_ci.yml.github/workflows/humble_ros2_ci.yml renamed to .github/workflows/ros2_ci.yml

@@ -1,11 +1,8 @@
 <img src="media/crisp_logo.webp" alt="CRISP Controllers Logo"/>
 
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/humble_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/humble_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/jazzy_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/jazzy_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml/badge.svg"/></a>
+<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml/badge.svg"/></a>
 <a href="https://danielsanjosepro.github.io/crisp_controllers/"><img alt="Static Badge" src="https://img.shields.io/badge/docs-passing-blue?style=flat&link=https%3A%2F%2Fdanielsanjosepro.github.io%2Fcrisp_controllers%2F"></a>
-<a href="https://utiasDSL.github.io/crisp_controllers#citing"><img alt="Static Badge" src="https://img.shields.io/badge/arxiv-cite-b31b1b?style=flat"></a>
+<a href="https://ieeexplore.ieee.org/document/11505755"><img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat&link=https%3A%2F%2Fieeexplore.ieee.org%2Fabstract%2Fdocument%2F11505755"></a>
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more!