Humble v2.0.0 Release

[mhubii]

Extension of #174

This PR targets 2.0.0. This will likely be the last major humble release and should pave the way for ROS index binaries. Following PRs will aim at rolling.

• Targeted release 14/04/2024
• Much improved integrability
• Much improved testing
• Better demos

Contributors

• LBRSServer added fri#22: fredRocs
• Update fri zip for 1.11 fri#23: peterMitrano
• FRI-1.16 fri#18: bowangFromMars
• Fri 2.7 fri#27: OmidRezayof
• FRI 2.x testing: liver121888
• Docker #151: Nicolai-98
• Potential Error in CommandGuard #175: StephanSchwarz96

Related PRs

• FRI 2.x support #158
• Planning scene namespace #155
• Docker #151
• FRI 2.x Messages #161
• Additional demos #170

Issues Tracker

• ROS index #9 (following 1.5.0)
• Add support for controllers #163
• Missing documentation #165
• Pose Demo as ROS 2 Controller #172
• Sequenced motion via MoveIt2 #159
• issue: Dual-IIWA7 Arm Setup using ROS2 FRI Stack #189

Desired Changes

• Black linting
• Fix link to docs
• Velocity limit checks in impedance control mode
• Matrix testing against multiple FRIs
• Add ${ROS_DISTRO} to install instruction (would require source, which renders it redundant)
• Introduce node composition in launch files to be done later
  Blockers:
  • ros2_control via composition: ros2_control_node via composition ros-controls/ros2_control#1261
  • rviz2 via composition: rviz2 via composition ros2/rviz#1114
• Add development tools dependency ROS development tools in readme  #145
• ros2_control_node: Read robot description from robot state publisher
• Use an event handler for robot state publisher Loading robot_description from topic does not work as expected  ros-controls/ros2_control#1262
• Add tests
  • lbr_fri_msgs
  • lbr_fri_ros2 interface tests
• De-couple interfaces by client command mode
• Update launch files
  • Remove redundant nones from launch
  • De-couple launch files for simplified custom setups
    • Add separate launch files for real / sim as no feature parity (would require Gazebo plugins)
    • Fix force torque broadcaster rviz config for simulation
    • Make separate moveit launch default
  • Consider moving all launch mixins to lbr_bringup, or into launch_mixins, see https://github.com/mhubii/demo_launch
  • Add configurable static transform at launch, i.e. world -> lbr/world
  • Remove app.launch.py from demos in favor for ros2_control variant (⚠️ breaking change)
• Update documentation for v1.4.x
  • Refer https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/index.html
  • Delete branches at https://github.com/lbr-stack/lbr_stack_doc in favor of tags
  • Add an architecture chart to highlight relation to ros2_control in readme
• Update parameter source for gazebo_ros2_control package in lbr.gazebo.xacro
• Add coloring a la https://github.com/ros-controls/ros2_control/blob/e149646d3f2595f269cfa4e1cd0681abde89ee69/controller_manager/controller_manager/spawner.py#L45
• De-couple the async client into position / torque / wrench
• Update Docker for new sources
• IDL changes: (⚠️ breaking change)
  • lbr_fri_msgs -> lbr_fri_idl
  • LBRPositionCommand -> LBRJointPositionCommand
• Build docs on PR: https://docs.readthedocs.io/en/stable/pull-requests.html
• Update link to server app in documentation
• Consider reading robot desriptions from topic rather than parameter where posssible

https://x.com/jdorfman/status/1655582823082782721?s=20

[mhubii]

for future reference, it would be good if the remote could be configured from the client

# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
remote:
  control_mode: "position"
  control_rate: 100
  client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]

client:
  fri:
    port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
    remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection

  lbr_fri_ros2:
    rt_prio: 80 # real-time priority for the control loop
    pid_p: 10.0 # P gain for the joint position  (useful for asynchronous control)
    pid_i: 0.0 # I gain for the joint position command
    pid_d: 0.0 # D gain for the joint position command
    pid_i_max: 0.0 # max integral value for the joint position command
    pid_i_min: 0.0 # min integral value for the joint position command
    pid_antiwindup: false # enable antiwindup for the joint position command
    command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
    external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz] 
    measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
    open_loop: true # KUKA works the best in open_loop control mode

  lbr_ros2_control:
    estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
      chain_root: link_0
      chain_tip: link_ee
      damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
      force_x_th: 2.0 # x-force threshold. Only if the force exceeds this value, the force will be considered
      force_y_th: 2.0 # y-force threshold. Only if the force exceeds this value, the force will be considered
      force_z_th: 2.0 # z-force threshold. Only if the force exceeds this value, the force will be considered
      torque_x_th: 0.5 # x-torque threshold. Only if the torque exceeds this value, the torque will be considered
      torque_y_th: 0.5 # y-torque threshold. Only if the torque exceeds this value, the torque will be considered
      torque_z_th: 0.5 # z-torque threshold. Only if the torque exceeds this value, the torque will be considered