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

JOSS Archive

This release tags review openjournals/joss-reviews#6138 (comment) for JOSS.

Humble-v2.1.0

• De-couple launch files from lbr_bringup for easier customization (breaking change):
  • Removed sim:=true / false argument from launch files in favor of dedicated launch files (since no feature parity between simulation and real robot)
  • MoveIt and RViz need to be launched separately now
  • User can now launch via:
    • ros2 launch lbr_bringup mock.launch.py (new: mock system)
    • ros2 launch lbr_bringup hardware.launch.py (real robot)
    • ros2 launch lbr_bringup gazebo.launch.py (Gazebo simulation)
• Added mock hardware to lbr_ros2_control (for simple ros2_control testing without the need for Gazebo, refer https://control.ros.org/humble/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html)
• Updated documentation

Humble-v2.0.0

This release aims for first class citizen ros2_control integration, alongside much improved documentation and support for all FRI versions. Documentation: https://lbr-stack.readthedocs.io/en/latest/

Contributors

We would like to highlight and thank all contributors!

• lbr-stack/fri#22: @fredRocs
• lbr-stack/fri#23: @PeterMitrano
• lbr-stack/fri#18: @BoWangFromMars
• lbr-stack/fri#27: @OmidRezayof
• FRI 2.x testing: @liver121888
• #151: @Nicolai-98
• #175: @StephanSchwarz96
• #165 @vazik01

Release Video

final_render.mp4

Breaking Changes

To

• Support a single mode of interaction
• Support all available FRI versions

some breaking changes were made:

• Interface Definition Language (IDL)
  • lbr_fri_msgs renamed to lbr_fri_idl
  • lbr_fri_idl moved to https://github.com/lbr-stack/lbr_fri_idl (so FRI 1.x and 2.x can be supported)
  • Renamed LBRPositionCommand.msg to LBRJointPositionCommand.msg
  • Added tests to lbr_fri_idl
• Removed legacy app.launch.py so user interacts through ros2_control primarily

Other Improvements

• Matrix testing against multiple FRIs (https://github.com/lbr-stack/fri): 1.11, 1.14, 1.15, 1.16, 2.5, 2.7
• black linting for Python scripts
• ros2_control_node: Read robot description from robot state publisher
• Added interface tests for lbr_fri_ros2
• Massively improved documentation
• Terminal log coloring a la https://github.com/ros-controls/ros2_control/blob/
• The AsyncClient is now de-coupled by client command mode position, torque, wrench (smplifies architecture, improves runtime)
  • Loads a robot interface through configurations in lbr_system_parameters.yaml: https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/519f5203518d8111ec9a98856ba711ce9bad99d0/lbr_ros2_control/config/lbr_system_parameters.yaml#L6
  • Documentation: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_ros2_control/doc/lbr_ros2_control.html#general

Bug Fixes

• Velocity limit checks in impedance control mode
• Command guard error #175

What is Next

• Fix several pending issues around usability (among others):
  • MoveIt with multiple robots: #189
  • MoveIt servo: #50
  • MoveIt via script: #140 (Jazzy onwards)
  • Fake hardware, i.e. no Gazebo #193
  • MoveIt with Gripper #133
  • Launch file clean-up
• Support for new Gazebo: https://gazebosim.org/
• Ubuntu 24.04 ROS 2 Jazzy support: https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/dev-jazzy

Thank you to everyone who contributed and provided feedback!

Humble-v1.4.3

• Fixes moveit namespace, refer to #154, maps:
  • planning_scene -> robot_name/planning_scene
  • planning_scene_world-> robot_name/planning_scene

Humble-v1.4.2

• Fixes cartesian path for move group node with namespace: #133
• Solution @josefinemonnet: moveit/moveit2#2545 (comment)
• Refers to #146

Humble-v1.4.1

• Fixes the floating base in Gazebo #129
• Refers to #144

Special thanks to @Tianhuanyu.

Humble-v1.4.0

• The general goal of this release is a tighter ros2_control integration. The lbr_bringup
  will serve as single entry point in the future. For now, app_component and app.launch.py are kept

force_torque_indicator.mp4

• Changes to lbr_fri_ros2:

  • Removes logging / parameter interfaces from lbr_fri_ros2 (so lbr_ros2_control serves as single interaction point)
  • Updates legacy app_component in lbr_fri_ros2 for changes. To be depracted in the future
  • Adds force-torque estimator to lbr_fri_ros2

• Changes to lbr_ros2_control:

  • Removes now redundant node from lbr_ros2_control

  • Adds forward position and forward torque controllers to lbr_ros2_control

  • Removes estimated force-torque broadcaster from lbr_ros2_control in favor of ros2_control default implementation

    • Force-torque now available under /lbr/force_torque_broadcaster/wrench
    • Namespace issues since lbr_controllers.yaml includes namespace in frame_id parameter

  • Adds lbr_fri_ros2 force-torque estimator to lbr_ros2_control as sensor

  • Adds configurations to lbr_system_interface.xacro

  • Simplifies lbr_ros2_control class names

• /lbr/command/position topic now under /lbr/command/joint_position

• Adds this changelog with release notes

• Refers to #142