Humble v1.5.0 Release

[mhubii]

This PR targets 1.5.0. This will likely be the last major humble release and should pave the way for ROS index binaries. Following PRs will aim at rolling.

Contributors

• https://github.com/lbr-stack/fri/pull/22: fredRocs
• https://github.com/lbr-stack/fri/pull/23: peterMitrano
• https://github.com/lbr-stack/fri/pull/18: bowangFromMars
• FRI 2.x testing: liver121888
• #151: Nicolai-98

Related PRs

• #158
• #155
• #151
• #161

Issues Tracker

• #9 (following 1.5.0)
• #163
• #165

Desired Changes

• [x] Black linting
• [ ] Fix link to docs
• [ ] Velocity limit checks in impedance control mode
• [ ] Matrix testing against multiple FRIs
• [x] ~~Add ${ROS_DISTRO} to install instruction~~ (would require source, which renders it redundant)
• [x] ~~Introduce node composition in launch files~~ to be done later Blockers:
  • ros2_control via composition: https://github.com/ros-controls/ros2_control/issues/1261
  • rviz2 via composition: https://github.com/ros2/rviz/issues/1114
• [x] Add development tools dependency https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/145
• [x] ros2_control_node: Read robot description from robot state publisher
• [x] ~~Use an event handler for robot state publisher~~ https://github.com/ros-controls/ros2_control/issues/1262
• [ ] Update launch files
  • [x] Remove redundant nones from launch
  • [ ] De-couple launch files for simplified custom setups
    • [ ] Add separate launch files for real / sim as no feature parity (would require Gazebo plugins)
    • [ ] Fix force torque broadcaster rviz config for simulation
    • [ ] Make separate moveit launch default
  • [ ] Consider moving all launch mixins to lbr_bringup, or into launch_mixins, see https://github.com/mhubii/demo_launch
  • [ ] Add configurable static transform at launch, i.e. world -> lbr/world
  • [ ] Remove app.launch.py from demos in favor for ros2_control variant
• [ ] Update documentation for v1.4.x
  • [ ] Refer https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/index.html
  • [x] Delete branches at https://github.com/lbr-stack/lbr_stack_doc in favor of tags
  • [ ] Add an architecture chart to highlight relation to ros2_control in readme
• [x] Update parameter source for gazebo_ros2_control package in lbr.gazebo.xacro
• [x] Add coloring a la https://github.com/ros-controls/ros2_control/blob/e149646d3f2595f269cfa4e1cd0681abde89ee69/controller_manager/controller_manager/spawner.py#L45

https://x.com/jdorfman/status/1655582823082782721?s=20

[shengyangzhuang]

Hey! v1.5.0 doesn't seem to be able to build due to the lbr_demos related packages. Related files involving package.xml, CMakeList.txt, setup.py, setup.cfg, /resource/~ need to be modified.

[mhubii]

hi @shengyangzhuang , yes sorry, this is a little under construction

[mhubii]

hi @shengyangzhuang this PR now lives on the humble branch. If you find time, please re-install drivers following

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.