Release/0.7 (#3)

Author: munseng-flexiv

.github/workflows/build.yml

@@ -16,14 +16,14 @@ jobs:
       ROS_DISTRO: foxy
     steps:
       - name: Setup ROS
-        uses: ros-tooling/setup-ros@0.3.4
+        uses: ros-tooling/setup-ros@v0.3
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - name: Checkout
         uses: actions/checkout@v3
       - name: Build and run tests
         id: action-ros-ci
-        uses: ros-tooling/action-ros-ci@0.2.6
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           package-name: |

README.md

@@ -80,13 +80,13 @@ source ~/flexiv_ros2_ws/install/setup.bash
 
 **NOTE**: the instruction below is only a quick reference, see the [Flexiv ROS2 Documentation](https://rdk.flexiv.com/manual/ros2_packages.html) for more information.
 
-The prerequisites of using ROS2 with Flexiv Rizon robot are [enable RDK on the robot server](https://rdk.flexiv.com/manual/getting_started.html#enable-rdk-on-robot-server) and [establish connection](https://rdk.flexiv.com/manual/getting_started.html#establish-connection) between the workstation PC and the robot.
+The prerequisites of using ROS2 with Flexiv Rizon robot are [enable RDK on the robot server](https://rdk.flexiv.com/manual/getting_started.html#activate-rdk-server) and [establish connection](https://rdk.flexiv.com/manual/getting_started.html#establish-connection) between the workstation PC and the robot.
 
 The main launch file to start the robot driver is the `rizon.launch.py` - it loads and starts the robot hardware, joint state broadcaster, controllers and opens RViZ. The arguments for the launch file are as follows:
 
 - `robot_ip` (*required*) - IP address of the robot server (remote).
 - `local_ip` (*required*) - IP address of the workstation PC (local).
-- `rizon_type` (default: *rizon4*) - type of the Flexiv Rizon robot.
+- `rizon_type` (default: *rizon4*) - type of the Flexiv Rizon robot. (rizon4, rizon4s or rizon10)
 - `use_fake_hardware` (default: *false*) - starts `FakeSystem` instead of real hardware. This is a simple simulation that mimics joint command to their states.
 - `start_rviz` (deafult: *true*) - starts RViz automatically with the launch file.
 - `fake_sensor_commands` (default: *false*) - enables fake command interfaces for sensors used for simulations. Used only if `use_fake_hardware` parameter is true.
@@ -101,10 +101,10 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
     - Test with real robot:
 
         ```bash
-        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip]
+        ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip] rizon_type:=rizon4
         ```
 
-        **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "link1" passed to canTransform argument source_frame - frame does not exist`. This happens because `joint_state_broadcaster` node need some time to start.
+        **NOTE**: To test whether the connection between ROS and the robot is established, you could disable the starting of RViz first by setting the `start_rviz` launch argument to false.
 
     - Test with fake hardware (`ros2_control` capability):
 

flexiv_bringup/launch/rizon.launch.py

@@ -20,7 +20,7 @@ def generate_launch_description():
             "rizon_type",
             description="Type of the Flexiv Rizon robot.",
             default_value="rizon4",
-            choices=["rizon4", "rizon4s"],
+            choices=["rizon4", "rizon4s", "rizon10"],
         )
     )
 
@@ -104,6 +104,9 @@ def generate_launch_description():
             "local_ip:=",
             local_ip,
             " ",
+            "name:=",
+            "rizon",
+            " ",
             "rizon_type:=",
             rizon_type,
             " ",

flexiv_bringup/launch/rizon_moveit.launch.py

@@ -32,7 +32,7 @@ def generate_launch_description():
             "rizon_type",
             description="Type of the Flexiv Rizon robot.",
             default_value="rizon4",
-            choices=["rizon4", "rizon4s"],
+            choices=["rizon4", "rizon4s", "rizon10"],
         )
     )
 
@@ -99,6 +99,9 @@ def generate_launch_description():
             "local_ip:=",
             local_ip,
             " ",
+            "name:=",
+            "rizon",
+            " ",
             "rizon_type:=",
             rizon_type,
             " ",

flexiv_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>flexiv_bringup</name>
-  <version>0.6.1</version>
+  <version>0.7.0</version>
   <description>Package with launch files and run-time configurations for Flexiv robots with `ros2_control`</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_controllers/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>flexiv_controllers</name>
-  <version>0.6.1</version>
+  <version>0.7.0</version>
   <description>Flexiv custom ros2 controllers</description>
   <maintainer email="[email protected]">Mun Seng Phoon</maintainer>
   <license>Apache License 2.0</license>

flexiv_description/launch/view_rizon.launch.py

@@ -25,6 +25,9 @@ def generate_launch_description():
                 [FindPackageShare("flexiv_description"), "urdf", "rizon.urdf.xacro"]
             ),
             " ",
+            "name:=",
+            "rizon",
+            " ",
             "rizon_type:=",
             rizon_type,
         ]
@@ -68,7 +71,7 @@ def generate_launch_description():
                 name="rizon_type",
                 default_value="rizon4",
                 description="Type of the Flexiv Rizon robot.",
-                choices=["rizon4", "rizon4s"],
+                choices=["rizon4", "rizon4s", "rizon10"],
             ),
             DeclareLaunchArgument(
                 name="gui",