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