Flexiv ROS 2 Humble 0.8

COMPATABILITY

• Flexiv robot software v2.10.5 and v2.10.6
• Flexiv RDK v0.8
• ROS 2 Humble

ADD

• Add the Humble binary build for the main branch.
• Rename the main branch to humble.

CHANGE

• flexiv_bringup: Update the main launcher and the MoveIt launch files.
• flexiv_hardware: Migrate hardware interface from Foxy to Humble [Link].
• flexiv_controllers: Migrate ros2_control from Foxy to Humble.
• flexiv_description: Replace fake_components with mock_components.
• flexiv_test_nodes: Add default values for all nodes' parameters.
• Update clang-format.
• Update README.

FIX

• Set RDK static library to the correct path (#16)
• Fix Rizon 10 ROS 2 xacro file (#18)

Flexiv ROS 2 Foxy 0.8

COMPATABILITY

• Flexiv robot software v2.10.5 and v2.10.6
• Flexiv RDK v0.8
• ROS 2 Foxy

ADD

• Add Foxy binary build for the Foxy branch.
• flexiv_bringup:
  • Update rizon_controllers.yaml config file with robot states broadcasters.
  • Add force_torque_sensor_broadcaster, external_wrench_in_base_broadcaster, external_wrench_in_tcp_broadcaster and tcp_pose_state_broadcaster to start in the robot main launcher (rizon.launch.py).
• flexiv_hardware: Expose robot feedback states e.g. force torque sensor state, external TCP wrench in base and TCP frames, and TCP pose as sensor interfaces in the hardware interface.
• flexiv_controllers: Add TcpPoseStateBroadcaster and ExternalTcpWrenchBroadcaster.
• flexiv_description: Update ROS 2 control xacro file with sensors state interfaces.

CHANGE

• flexiv_hardware:
  • Update enums naming of flexiv::Mode.
  • Remove manual waiting check for the mode to be switched using Robot::getMode().
• flexiv_msgs:
  • Update Mode message.
  • Remove CartesianState, CartesianVelocity and ExternalForce messages and replace them with geometry_msgs messages in RobotStates message.
• Update README.

FIX

• Fix joint torque interface bug (#5).
• Fix joint states order in flexiv_test_nodes (#9).
• Set RDK static library to the correct path (#16).
• Fix Rizon 10 ROS 2 xacro file (#18).

Flexiv ROS 2 Foxy 0.7

COMPATABILITY

• Flexiv robot software v2.10.3 and v2.10.4
• Flexiv RDK v0.7
• ROS 2 Foxy

ADD

• flexiv_description:
  • Add URDF and mesh files for Rizon 10 robot arm.
  • Add DAE format visual mesh files.
  • Add Rizon 10 ROS 2 control xacro file.

CHANGE

• Rename Rizon URDF xacro files.
• Update README.

FIX

Flexiv ROS 2 Foxy 0.6.1

COMPATABILITY

• Flexiv robot software v2.10.1 and v2.10.2
• Flexiv RDK v0.6.1
• ROS 2 Foxy

ADD

• flexiv_bringup: Add launch parameter rizon_type
• flexiv_description:
  • Add Rizon 4s mesh files
  • Add rizon_type parameter in xacro files

CHANGE

• Rename URDF and SRDF xacro files e.g. from rizon4.urdf.xacro to rizon.urdf.xacro

FIX

Flexiv ROS 2 Foxy 0.6

COMPATABILITY

• Flexiv robot software v2.10
• Flexiv RDK v0.6.0
• ROS 2 Foxy

ADD

Initial public release

• Add integration with ros2_control
• Add integration with MoveIt! 2
• Support RDK joint position and torque control modes
• Add Flexiv custom joint impedance controller
• Add custom ROS messages in flexiv_msgs
• Add test nodes and demo examples
• Add Flexiv Rizon4 description files
• Add launch files to bring up the robot

CHANGE

FIX