Humble v1.4.0

[mhubii]

• Forward command controllers lbr_bring_up doesn't publish /lbr/state? #106
  • LBR position command controller
  • LBR torque command controller
  • LBR wrench command controller (TODO: gpio)
  • Consider depracting app.launch.py https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_fri_ros2/launch/app.launch.py
• Remove logging / parameter interfaces from lbr_fri_ros2 core
• Remove redundant lbr prefix in lbr_ros2_control
• Remove redundant members in SystemInterface
• Move ros2_control configs from lbr_description to lbr_ros2_control
• Remove wrench broadcaster, refer to Humble v.1.3.1 #130 (comment)
• Add a wrench state interface
  • Transform into correct frame
  • Add threshold to force-torque estimate
• Move damped_least_squares to lbr_fri_ros2 package
• Clean .xacro files, refer Humble ignition gazebo #117
• position_* -> joint_trajectory_controller, refer Humble ignition gazebo #117
• Tune PID for better responsiveness @

  lbr_fri_ros2_stack/lbr_fri_ros2/include/lbr_fri_ros2/command_interface.hpp

  Line 47 in c10d0a5

  JointPIDArrayROS joint_position_pid_;

• Gazebo floating base The robot will fly away in gazebo in bring_up demo #129
• ros2_control admittance control demo https://github.com/ros-controls/ros2_controllers/tree/master/admittance_controller
• Add CHANGELOG.rst
• Edit CITATION.cff to incorporate arxiv, refer to https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-citation-files#citing-something-other-than-software
• Update ros-setup version in GitHub actions https://github.com/marketplace/actions/setup-ros-environment

Previously #137