Releases: lbr-stack/lbr_fri_ros2_stack
Releases · lbr-stack/lbr_fri_ros2_stack
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: ros-planning/moveit2#2545 (comment)
- Refers to #146
Humble-v1.4.1
Special thanks to @Tianhuanyu.
Humble-v1.4.0
- The general goal of this release is a tighter
ros2_control
integration. Thelbr_bringup
will serve as single entry point in the future. For now,app_component
andapp.launch.py
are kept
force_torque_indicator.mp4
-
Changes to
lbr_fri_ros2
:- Removes logging / parameter interfaces from
lbr_fri_ros2
(solbr_ros2_control
serves as single interaction point) - Updates legacy
app_component
inlbr_fri_ros2
for changes. To be depracted in the future - Adds force-torque estimator to
lbr_fri_ros2
- Removes logging / parameter interfaces from
-
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 ofros2_control
default implementation- Force-torque now available under
/lbr/force_torque_broadcaster/wrench
- Namespace issues since
lbr_controllers.yaml
includes namespace inframe_id
parameter
- Force-torque now available under
-
Adds
lbr_fri_ros2
force-torque estimator tolbr_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
Humble-v1.3.1
What's Changed
- v1.3.0 Gazebo namespace fixes by @mhubii in #123
- Fix iiwa ee link by @mhubii in #126
- Humble v.1.3.1 by @mhubii in #130
Full Changelog: humble-v1.3.0-beta...humble-v1.3.1
Special thanks to @ardiya, @Tianhuanyu, @CarlDegio, @EliasTDam for their contributions.
Humble-v1.3.0-beta
- Namespaced
robot_description
andjoint_states
- De-coupled commands, user will interact through
LBRPositionCommand
,LBRTorqueCommand
,LBRWrenchCommand
- Multi-robot support
- New command / state interfaces in
lbr_fri_ros2
- Topic free
ros2_control
support through command / state interfaces inlbr_fri_ros2
- Intraprocess cpp admittance demo
- New app component based on command / state interfaces in
lbr_fri_ros2
Refer to #121
Foxy-v1.1.5
- Backport Humble v1.2.5 https://github.com/lbr-stack/lbr_fri_ros2_stack/releases/tag/humble-v1.2.5 to foxy
- Fixes simulation launch #51
Humble-v1.2.5
- Updated visualization (STL -> DAE files with materials, might occur dark in Gazebo, caused by lack of light)
- Fixes joint bug in Gazebo
- Improved logging in command guard
Humble-v1.2.4
- Remove robot name from configs and use frame_prefix from robot state publisher instead
- Removed robot name from joint names, e.g.
lbr_A1
->A1
- Added PID for asynchronous control rate
- Simplified class names, e.g.
LBRApp
->App
- Add
utils.hpp
for PID and exponential filter