Humble v1.4.0

[mhubii]

• [ ] Forward command controllers #106
  • [x] LBR position command controller
  • [x] LBR torque command controller
  • [ ] LBR wrench command controller (TODO: gpio)
  • [ ] Consider depracting app.launch.py https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_fri_ros2/launch/app.launch.py
• [x] Remove logging / parameter interfaces from lbr_fri_ros2 core
• [x] Remove redundant lbr prefix in lbr_ros2_control
• [x] Remove redundant members in SystemInterface
• [x] Move ros2_control configs from lbr_description to lbr_ros2_control
• [x] Remove wrench broadcaster, refer to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/130#issuecomment-1819853978
• [x] Add a wrench state interface
  • [x] Transform into correct frame
  • [x] Add threshold to force-torque estimate
• [x] Move damped_least_squares to lbr_fri_ros2 package
• [x] Clean .xacro files, refer https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/117
• [x] position_* -> joint_trajectory_controller, refer https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/117
• [ ] Tune PID for better responsiveness @ https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/c10d0a547ead023f931e2fb2a89164b3397f696c/lbr_fri_ros2/include/lbr_fri_ros2/command_interface.hpp#L47
• [ ] Gazebo floating base #129
• [ ] ros2_control admittance control demo https://github.com/ros-controls/ros2_controllers/tree/master/admittance_controller
• [x] Add CHANGELOG.rst
• [ ] Edit CITATION.cff to incorporate arxiv, refer to https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-citation-files#citing-something-other-than-software
• [x] Update ros-setup version in GitHub actions https://github.com/marketplace/actions/setup-ros-environment

Previously https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/137