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Humble v1.5.0 Release #147

Merged
merged 84 commits into from
May 13, 2024
Merged

Humble v1.5.0 Release #147

merged 84 commits into from
May 13, 2024

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mhubii
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@mhubii mhubii commented Dec 29, 2023

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.

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

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FvnPq61X0AEbjNd

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

@mhubii mhubii changed the title Launch with composition Improved launch Dec 29, 2023
@mhubii mhubii changed the title Improved launch Improved launch and updated documentation Jan 4, 2024
@@ -5,6 +5,9 @@ Demos for controlling the LBR through the Fast Robot Interface (FRI) from ROS 2.
.. warning::
On the real robot, do always execute in ``T1`` mode first.

TODO: Differentiate demos through controllers
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update this doc

@@ -1,5 +1,7 @@
LBR FRI ROS 2
=============
TODO: massive re-write of this section, since architecture has changed.
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update this doc

@@ -1,34 +1,7 @@
LBR Bringup
===========
The ``lbr_fri_ros2_stack`` is designed for research **and** deployment. It runs standalone, with ``ros2_control``, and thus also with ``MoveIt 2``. Details are described in below sections
TODO: Mention different controllers here already
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update this doc

robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
"robot_name", default="lbr"
),
tf: List[float] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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this transform does not work with moveit out of the box

@mhubii mhubii merged commit 72b5146 into humble May 13, 2024
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mhubii commented May 13, 2024

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.

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2 participants