Humble-v2.0.0

This release aims for first class citizen ros2_control integration, alongside much improved documentation and support for all FRI versions. Documentation: https://lbr-stack.readthedocs.io/en/latest/

Contributors

We would like to highlight and thank all contributors!

• lbr-stack/fri#22: @fredRocs
• lbr-stack/fri#23: @PeterMitrano
• lbr-stack/fri#18: @BoWangFromMars
• lbr-stack/fri#27: @OmidRezayof
• FRI 2.x testing: @liver121888
• #151: @Nicolai-98
• #175: @StephanSchwarz96
• #165 @vazik01

Release Video

final_render.mp4

Breaking Changes

To

• Support a single mode of interaction
• Support all available FRI versions

some breaking changes were made:

• Interface Definition Language (IDL)
  • lbr_fri_msgs renamed to lbr_fri_idl
  • lbr_fri_idl moved to https://github.com/lbr-stack/lbr_fri_idl (so FRI 1.x and 2.x can be supported)
  • Renamed LBRPositionCommand.msg to LBRJointPositionCommand.msg
  • Added tests to lbr_fri_idl
• Removed legacy app.launch.py so user interacts through ros2_control primarily

Other Improvements

• Matrix testing against multiple FRIs (https://github.com/lbr-stack/fri): 1.11, 1.14, 1.15, 1.16, 2.5, 2.7
• black linting for Python scripts
• ros2_control_node: Read robot description from robot state publisher
• Added interface tests for lbr_fri_ros2
• Massively improved documentation
• Terminal log coloring a la https://github.com/ros-controls/ros2_control/blob/
• The AsyncClient is now de-coupled by client command mode position, torque, wrench (smplifies architecture, improves runtime)
  • Loads a robot interface through configurations in lbr_system_parameters.yaml: https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/519f5203518d8111ec9a98856ba711ce9bad99d0/lbr_ros2_control/config/lbr_system_parameters.yaml#L6
  • Documentation: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_ros2_control/doc/lbr_ros2_control.html#general

Bug Fixes

• Velocity limit checks in impedance control mode
• Command guard error #175

What is Next

• Fix several pending issues around usability (among others):
  • MoveIt with multiple robots: #189
  • MoveIt servo: #50
  • MoveIt via script: #140 (Jazzy onwards)
  • Fake hardware, i.e. no Gazebo #193
  • MoveIt with Gripper #133
  • Launch file clean-up
• Support for new Gazebo: https://gazebosim.org/
• Ubuntu 24.04 ROS 2 Jazzy support: https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/dev-jazzy

Thank you to everyone who contributed and provided feedback!