Humble Launch Improvements

[mhubii]

Extension of https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/176

This PR targets 2.0.0. This will likely be the last major humble release and should pave the way for ROS index binaries. Following PRs will aim at rolling.

• Targeted release 14/04/2024
• Much improved integrability
• Much improved testing
• Better demos

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
• https://github.com/lbr-stack/fri/pull/27: OmidRezayof
• FRI 2.x testing: liver121888

• 151: Nicolai-98

• 175: StephanSchwarz96

Related PRs

• 158

• 155

• 151

• 161

• 170

Issues Tracker

• 9 (following 1.5.0)

• 163

• 165

• 172

• 159

• 189

• 187

Desired Changes

• [x] Black linting
• [x] Fix link to docs
• [x] Velocity limit checks in impedance control mode
• [x] 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
• [x] Add tests
  • [x] lbr_fri_msgs
  • [x] lbr_fri_ros2 interface tests
• [x] De-couple interfaces by client command mode
• [x] Update launch files
  • [x] Remove redundant nones from launch
  • [x] De-couple launch files for simplified custom setups
  • [x] Add separate launch files for real / sim as no feature parity (would require Gazebo plugins)
  • [x] Fix force torque broadcaster rviz config for simulation
  • [x] Make separate moveit launch default
  • [x] 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
  • [x] Remove app.launch.py from demos in favor for ros2_control variant (⚠️ breaking change)
• [x] Update documentation for v1.4.x
  • [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
  • [x] 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
• [x] De-couple the async client into position / torque / wrench
• [x] Update Docker for new sources
• [x] IDL changes: (⚠️ breaking change)
  • [x] lbr_fri_msgs -> lbr_fri_idl
  • [x] LBRPositionCommand -> LBRJointPositionCommand
• [ ] Build docs on PR: https://docs.readthedocs.io/en/stable/pull-requests.html
• [x] Update link to server app in documentation
• [ ] Consider reading robot desriptions from topic rather than parameter where posssible

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