Humble v1.5.0 Release #147
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mhubii
commented
Jan 4, 2024
lbr_demos/doc/lbr_demos.rst
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| @@ -5,6 +5,9 @@ Demos for controlling the LBR through the Fast Robot Interface (FRI) from ROS 2. | |||
| .. warning:: | |||
| On the real robot, do always execute in ``T1`` mode first. | |||
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| TODO: Differentiate demos through controllers | |||
mhubii
commented
Jan 4, 2024
lbr_fri_ros2/doc/lbr_fri_ros2.rst
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| @@ -1,5 +1,7 @@ | |||
| LBR FRI ROS 2 | |||
| ============= | |||
| TODO: massive re-write of this section, since architecture has changed. | |||
mhubii
commented
Jan 4, 2024
lbr_bringup/doc/lbr_bringup.rst
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| @@ -1,34 +1,7 @@ | |||
| LBR Bringup | |||
| =========== | |||
| The ``lbr_fri_ros2_stack`` is designed for research **and** deployment. It runs standalone, with ``ros2_control``, and thus also with ``MoveIt 2``. Details are described in below sections | |||
| TODO: Mention different controllers here already | |||
mhubii
commented
Jan 4, 2024
| robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration( | ||
| "robot_name", default="lbr" | ||
| ), | ||
| tf: List[float] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], |
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this transform does not work with moveit out of the box
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hi @shengyangzhuang this PR now lives on the https://github.com/lbr-stack/lbr_fri_ros2_stack#quick-start there was an issue with the previous version that can trigger an unexpected motion. This issue is now fully fixed. |
This was referenced May 13, 2024
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This PR targets
1.5.0. This will likely be the last majorhumblerelease and should pave the way for ROS index binaries. Following PRs will aim atrolling.Contributors
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1.5.0)Desired Changes
Add(would require source, which renders it redundant)${ROS_DISTRO}to install instructionIntroduce node composition in launch filesto be done laterBlockers:
ros2_controlvia composition: ros2_control_node via composition ros-controls/ros2_control#1261rviz2via composition: rviz2 via composition ros2/rviz#1114ros2_control_node: Read robot description from robot state publisherUse an event handler for robot state publisherLoadingrobot_descriptionfrom topic does not work as expected ros-controls/ros2_control#1262lbr_fri_msgslbr_fri_ros2interface testslbr_bringup, or intolaunch_mixins, see https://github.com/mhubii/demo_launchworld->lbr/worldapp.launch.pyfrom demos in favor forros2_controlvariant (v1.4.xros2_controlin readmegazebo_ros2_controlpackage inlbr.gazebo.xacrolbr_fri_msgs->lbr_fri_idl(https://x.com/jdorfman/status/1655582823082782721?s=20