Humble v1.2.5

[mhubii]

• [ ] Default release in cmake -> remove flag from readme

• [ ] Move mixins to package_launch_mixin

• [ ] Add foxglove launch files?

• [ ] lbr_fri_ros2 improvements:

  • [ ] Dedicated clients and messages (position command / torque command / wrench command)
  • [ ] Latency tests
  • [ ] Remove commanded state?
  • [ ] Non-abstract command guard?
  • [ ] Single PID for all joints?
  • [ ] Python demos: Node composition and intra process in launch files
  • [ ] Change default gains and parameter launch file
  • [x] Improve command guard error message for joints, i.e. limit on A1... and fix velocity limit check in impedance control mode

• [ ] lbr_hardware_interface -> lbr_ros2_control

  • [ ] HW IF configure sample time automatically
  • [ ] Add virtual F/T broadcaster
  • [ ] Add a ros2_control admittance demo
  • [ ] Add a MoveIt python demo
  • [ ] Remove redundant Nones in launch mixins, e.g. https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/2e24a1cd78dc5325053a833390579f9222c7e499/lbr_hardware_interface/lbr_hardware_interface/launch_mixin.py#L114
  • [ ] Fix frame prefix parameter https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/2e24a1cd78dc5325053a833390579f9222c7e499/lbr_hardware_interface/launch/hardware_interface.launch.py#L39
  • [ ] Namespace robot description
  • [x] Franka uses joint configs for Gazebo https://github.com/frankaemika/franka_ros/blob/d439fc7d66a3edb890eefb0fa955f6d7042cac12/franka_gazebo/test/launch/panda-gazebo.urdf#L269C6-L269C6

[mhubii]

splitting this PR