Merge pull request #144 from lbr-stack/dev-humble-remove-base-frame

Humble v1.4.1

.github/workflows/build.yml

@@ -1,7 +1,6 @@
 name: Build
 
 on:
-  push:
   pull_request:
     branches:
       - humble

CHANGELOG.rst

@@ -1,6 +1,11 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v1.4.1 (2023-12-15)
+--------------------------
+* Removes the ``base_frame`` parameter from ``lbr_bringup``, ``lbr_description``, ``lbr_fri_ros2``, ``lbr_ros2_control``
+* Updates RViZ default config in ``lbr_moveit_config``
+
 Humble v1.4.0 (2023-12-08)
 --------------------------
 * The general goal of this release is a tighter ``ros2_control`` integration. The ``lbr_bringup``

CITATION.cff

@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 1.4.0
+version: 1.4.1
 doi: 10.48550/arXiv.2311.12709
-date-released: 2023-12-08
+date-released: 2023-12-15

lbr_bringup/config/config.rviz

@@ -10,7 +10,7 @@ Panels:
         - /RobotModel1/Description Topic1
         - /Wrench1
       Splitter Ratio: 0.40760868787765503
-    Tree Height: 717
+    Tree Height: 724
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -68,10 +68,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
         link_0:
           Alpha: 1
           Show Axes: false
@@ -116,6 +112,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Mass Properties:
         Inertia: false
         Mass: false
@@ -215,7 +215,7 @@ Window Geometry:
   Height: 1021
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002120000035bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000035b000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000035b000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002ed00fffffffb0000000800540069006d00650100000000000004500000000000000000000005220000035b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002120000035ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f0000035b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005220000035f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -225,5 +225,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1850
-  X: 70
-  Y: 27
+  X: 1080
+  Y: 450

lbr_bringup/launch/move_group.launch.py

@@ -20,32 +20,24 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     model = LaunchConfiguration("model").perform(context)
     moveit_configs_builder = LBRMoveGroupMixin.moveit_configs_builder(
         robot_name=model,
-        base_frame=LaunchConfiguration("base_frame"),
         package_name=f"{model}_moveit_config",
     )
     movegroup_params = LBRMoveGroupMixin.params_move_group()
 
     # MoveGroup:
     # - requires world frame
-    # - maps link robot_name/base_frame -> base_frame
-    # These two transform need publishing
+    # - urdf only has robot_name/world
+    # This transform needs publishing
     robot_name = LaunchConfiguration("robot_name").perform(context)
-    ld.add_action(
-        LBRDescriptionMixin.node_static_tf(
-            tf=[0, 0, 0, 0, 0, 0],
-            parent="world",
-            child=LaunchConfiguration("base_frame"),
-        )
-    )
     ld.add_action(
         LBRDescriptionMixin.node_static_tf(
             tf=[0, 0, 0, 0, 0, 0],  # keep zero
-            parent=LaunchConfiguration("base_frame"),
+            parent="world",
             child=PathJoinSubstitution(
                 [
-                    LaunchConfiguration("robot_name"),
-                    LaunchConfiguration("base_frame"),
-                ]  # results in robot_name/base_frame
+                    robot_name,
+                    "world",
+                ]  # results in robot_name/world
             ),
         )
     )
@@ -86,7 +78,6 @@ def generate_launch_description() -> LaunchDescription:
 
     ld.add_action(LBRDescriptionMixin.arg_model())
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
-    ld.add_action(LBRDescriptionMixin.arg_base_frame())
     ld.add_action(LBRDescriptionMixin.arg_sim())
 
     ld.add_action(OpaqueFunction(function=launch_setup))

lbr_bringup/launch/real.launch.py

@@ -2,7 +2,7 @@
 
 from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
 from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit, OnProcessStart
 from launch.substitutions import (
     AndSubstitution,
@@ -72,35 +72,25 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
 
     # MoveGroup:
     # - requires world frame
-    # - maps link robot_name/base_frame -> base_frame
-    # These two transform need publishing
+    # - urdf only has robot_name/world
+    # This transform needs publishing
     robot_name = LaunchConfiguration("robot_name").perform(context)
-    ld.add_action(
-        LBRDescriptionMixin.node_static_tf(
-            tf=[0, 0, 0, 0, 0, 0],
-            parent="world",
-            child=LaunchConfiguration("base_frame"),
-            condition=IfCondition(LaunchConfiguration("moveit")),
-        ),
-    )
     ld.add_action(
         LBRDescriptionMixin.node_static_tf(
             tf=[0, 0, 0, 0, 0, 0],  # keep zero
-            parent=LaunchConfiguration("base_frame"),
+            parent="world",
             child=PathJoinSubstitution(
                 [
-                    LaunchConfiguration("robot_name"),
-                    LaunchConfiguration("base_frame"),
-                ]  # results in robot_name/base_frame
+                    robot_name,
+                    "world",
+                ]  # results in robot_name/world
             ),
-            condition=IfCondition(LaunchConfiguration("moveit")),
         )
     )
 
     model = LaunchConfiguration("model").perform(context)
     moveit_configs_builder = LBRMoveGroupMixin.moveit_configs_builder(
         robot_name=model,
-        base_frame=LaunchConfiguration("base_frame"),
         package_name=f"{model}_moveit_config",
     )
     movegroup_params = LBRMoveGroupMixin.params_move_group()
@@ -117,21 +107,6 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         )
     )
 
-    # unless MoveIt: add world -> robot_name/base_frame transform
-    ld.add_action(
-        LBRDescriptionMixin.node_static_tf(
-            tf=[0, 0, 0, 0, 0, 0],  # keep zero
-            parent="world",
-            child=PathJoinSubstitution(
-                [
-                    LaunchConfiguration("robot_name"),
-                    LaunchConfiguration("base_frame"),
-                ]  # results in robot_name/base_frame
-            ),
-            condition=UnlessCondition(LaunchConfiguration("moveit")),
-        )
-    )
-
     # RViz and MoveIt
     rviz_moveit = RVizMixin.node_rviz(
         rviz_config_pkg=f"{model}_moveit_config",
@@ -177,7 +152,6 @@ def generate_launch_description() -> LaunchDescription:
     ld = LaunchDescription()
     ld.add_action(LBRDescriptionMixin.arg_model())
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
-    ld.add_action(LBRDescriptionMixin.arg_base_frame())
     ld.add_action(LBRDescriptionMixin.arg_port_id())
     ld.add_action(
         DeclareLaunchArgument(

lbr_bringup/launch/sim.launch.py

@@ -2,7 +2,7 @@
 
 from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
 from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
 from launch.substitutions import (
     AndSubstitution,
@@ -48,35 +48,25 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
 
     # MoveGroup:
     # - requires world frame
-    # - maps link robot_name/base_frame -> base_frame
-    # These two transform need publishing
+    # - urdf only has robot_name/world
+    # This transform needs publishing
     robot_name = LaunchConfiguration("robot_name").perform(context)
-    ld.add_action(
-        LBRDescriptionMixin.node_static_tf(
-            tf=[0, 0, 0, 0, 0, 0],
-            parent="world",
-            child=LaunchConfiguration("base_frame"),
-            condition=IfCondition(LaunchConfiguration("moveit")),
-        ),
-    )
     ld.add_action(
         LBRDescriptionMixin.node_static_tf(
             tf=[0, 0, 0, 0, 0, 0],  # keep zero
-            parent=LaunchConfiguration("base_frame"),
+            parent="world",
             child=PathJoinSubstitution(
                 [
-                    LaunchConfiguration("robot_name"),
-                    LaunchConfiguration("base_frame"),
-                ]  # results in robot_name/base_frame
+                    robot_name,
+                    "world",
+                ]  # results in robot_name/world
             ),
-            condition=IfCondition(LaunchConfiguration("moveit")),
         )
     )
 
     model = LaunchConfiguration("model").perform(context)
     moveit_configs_builder = LBRMoveGroupMixin.moveit_configs_builder(
         robot_name=model,
-        base_frame=LaunchConfiguration("base_frame"),
         package_name=f"{model}_moveit_config",
     )
     movegroup_params = LBRMoveGroupMixin.params_move_group()
@@ -93,21 +83,6 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         )
     )
 
-    # unless MoveIt: add world -> robot_name/base_frame transform
-    ld.add_action(
-        LBRDescriptionMixin.node_static_tf(
-            tf=[0, 0, 0, 0, 0, 0],  # keep zero
-            parent="world",
-            child=PathJoinSubstitution(
-                [
-                    LaunchConfiguration("robot_name"),
-                    LaunchConfiguration("base_frame"),
-                ]  # results in robot_name/base_frame
-            ),
-            condition=UnlessCondition(LaunchConfiguration("moveit")),
-        )
-    )
-
     # RViz and MoveIt
     rviz_moveit = RVizMixin.node_rviz(
         rviz_config_pkg=f"{model}_moveit_config",
@@ -151,7 +126,6 @@ def generate_launch_description() -> LaunchDescription:
     ld = LaunchDescription()
     ld.add_action(LBRDescriptionMixin.arg_model())
     ld.add_action(LBRDescriptionMixin.arg_robot_name())
-    ld.add_action(LBRDescriptionMixin.arg_base_frame())
     ld.add_action(
         DeclareLaunchArgument(
             name="moveit",

lbr_bringup/lbr_bringup/launch_mixin.py

@@ -54,7 +54,7 @@ def arg_monitor_dynamics() -> DeclareLaunchArgument:
 
     @staticmethod
     def moveit_configs_builder(
-        robot_name: str, base_frame: str, package_name: str
+        robot_name: str, package_name: str
     ) -> MoveItConfigsBuilder:
         return (
             MoveItConfigsBuilder(
@@ -66,7 +66,6 @@ def moveit_configs_builder(
                     get_package_share_directory("lbr_description"),
                     f"urdf/{robot_name}/{robot_name}.urdf.xacro",
                 ),
-                mappings={"base_frame": base_frame},
             )
             .planning_pipelines(default_planning_pipeline="ompl", pipelines=["ompl"])
         )

lbr_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_bringup</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>LBR launch files.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_cpp</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>Advanced C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_python</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.0",
+    version="1.4.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

lbr_demos/lbr_demos_fri_ros2_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_cpp</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_fri_ros2_python/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_python</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_fri_ros2_python/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.0",
+    version="1.4.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

lbr_demos/lbr_demos_ros2_control_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_cpp</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_ros2_control_python/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_python</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

lbr_demos/lbr_demos_ros2_control_python/setup.py

@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.4.0",
+    version="1.4.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),