The current ROS 2 control integration utilizes topic-based intraprocess communication, which is not optimal.
This PR introduces command and state interface classes to the lbr_fri_ros2 package such that commands are exposed via reference in a safe manner.
New:
[x] Namespaced robot_description and joint_states
[x] De-coupled commands, user will interact through LBRPositionCommand, LBRTorqueCommand, LBRWrenchCommand
[x] Multi-robot support
[x] New command / state interfaces in lbr_fri_ros2
[x] Topic free ros2_control support through command / state interfaces in lbr_fri_ros2
[x] Intraprocess cpp admittance demo
[x] New app component based on command / state interfaces in lbr_fri_ros2
Future work will focus on making ROS 2 control a first class citizen by introducing state broadcasters for the lbr_fri_msgs. Additionally, a virtual force torque sensor will be introduced.
The current ROS 2 control integration utilizes topic-based intraprocess communication, which is not optimal.
This PR introduces command and state interface classes to the
lbr_fri_ros2package such that commands are exposed via reference in a safe manner.New:
robot_descriptionandjoint_statesLBRPositionCommand,LBRTorqueCommand,LBRWrenchCommandlbr_fri_ros2ros2_controlsupport through command / state interfaces inlbr_fri_ros2lbr_fri_ros2Future work will focus on making ROS 2 control a first class citizen by introducing state broadcasters for the
lbr_fri_msgs. Additionally, a virtual force torque sensor will be introduced.