Courageous Curie (KROSHU 2.0 - Jazzy)

• mxAutomation support for commanding
• External axis support
• Updated EAC driver launch file with new driver_version argument
• Made CPU affinities and real-time thread priority configurable for RSI driver
• Fixed the usage of the Client IP and Client Port for RSI connection
• Generalized moveit example launch
• Changed model verification to only consider payload, reach and type
• Added option to lock memor
• Added cycle_time parameters to drivers using RSI
• Synchronized update rate of controller manage
• Added synchronous cycle time change to Sunrise similar to RSI pattern
• Bugfixes

Brave Bohr (KROSHU 1.1.0 - Humble)

• mxAutomation support for commanding
• External axis support
• Updated EAC driver launch file with new driver_version argument
• Made CPU affinities and real-time thread priority configurable for RSI driver
• Fixed the usage of the Client IP and Client Port for RSI connection
• Generalized moveit example launch
• Changed model verification to only consider payload, reach and type
• Added option to lock memor
• Added cycle_time parameters to drivers using RSI
• Synchronized update rate of controller manage
• Added synchronous cycle time change to Sunrise similar to RSI pattern
• Bugfixes

Astonishing Ampere (KROSHU 1.0.0 - Humble)

• Real-time motion streaming for motion control
• Multi-layer commanding concept: streaming-only option OR full-headless
• Supports all KUKA operating systems (iiQKA.OS2; KSS 8.6, 8.7; iiQKA.OS1; Prototype support for: Sunrise 1.x, 2.x)
• Streaming through RSI, EAC, FRI
• Commanding through EKI, EAC, SunriseTCP (app-based)
• Support for IO control with KSS
• Support for ROS 2 Humble
• Following ros2_control conventions

ros2_control support for RSI

• Added ros2_control support for the RSI driver

iiQKA driver reactivation fix

Merge pull request #66 from kroshu/fix/unblock_stream

Fix observe thread block

iiQKA driver torque control support

Added torque control support to RoX hardware interface.
Besides, the lifecycle states and parameters are synchonised between the hardware interface and the manager node

Original Sunrise Driver

This release contains the non-ros2_control version of the Sunrise driver with additional helper and demo packages.

Sunrise driver with ros2_control

The sunrise driver was modified to integrate into ros2_control framework
Additionally, some bugs were fixed for the rox driver

iiQKA driver

Added RoX driver with only joint position control mode support
Internal packages are needed for the driver to work, but it builds locally with mock libraries, mock driver supports visualisation in rviz

iiQKA driver joint impedance support

Added joint impedance control mode support for RoX driver. Configuration of control modes is possible only in hardware interface with rebuild.
(Internal packages are needed for the driver to work, but it builds locally with mock libraries, mock driver supports visualisation in rviz)