v1.0.0 - Initial Stable Release

Harmony Research Interface v1.0.0

Initial stable release of the ROS2 interface for the Harmony exoskeleton robot.

Features

• ROS2 Integration: Full rosbridge-based communication over WebSocket
• Control Modes: Torque mode and impedance mode for research applications
• Arm Features: Gravity compensation, scapulo-humeral rhythm, joint constraints
• Real-time Monitoring: Joint states, end-effector transforms, arm sizes
• Docker Build: Cross-compilation support for Harmony's Buildroot environment

Documentation

• Architecture diagrams showing system components
• Docker build pipeline
• Setup guide (build, deploy, configure)
• Troubleshooting guide
• Usage manual with complete workflow examples

Quick Start

./build-docker-image.sh
./build-in-docker.sh
ROSBRIDGE_HOST=<your-ip> ./deploy-to-harmony.sh

See README.md for full documentation.