Merge pull request #146 from lbr-stack/dev-humble-cartesian-path

Cartesian path fix
lbr-stack · Dec 29, 2023 · 0c47212 · 0c47212
2 parents 8ab890f + d67049c
commit 0c47212
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,10 +1,17 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v1.4.2 (2023-12-29)
+--------------------------
+* Fixes cartesian path for move group node with namespace: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/133
+* Solution @josefinemonnet: https://github.com/ros-planning/moveit2/issues/2545#issuecomment-1868480168
+* Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/146
+
 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``
+* Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/144
 
 Humble v1.4.0 (2023-12-08)
 --------------------------

diff --git a/CITATION.cff b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 1.4.1
+version: 1.4.2
 doi: 10.48550/arXiv.2311.12709
-date-released: 2023-12-15
+date-released: 2023-12-29
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
@@ -59,12 +59,14 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": LaunchConfiguration("sim")}],
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )
 

diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
@@ -113,15 +113,17 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": False}],
         condition=IfCondition(
             AndSubstitution(LaunchConfiguration("moveit"), LaunchConfiguration("rviz"))
         ),
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )
 

diff --git a/lbr_bringup/launch/sim.launch.py b/lbr_bringup/launch/sim.launch.py
@@ -90,15 +90,17 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
         rviz_config="config/moveit.rviz",
         parameters=LBRMoveGroupMixin.params_rviz(
             moveit_configs=moveit_configs_builder.to_moveit_configs()
-        ),
+        )
+        + [{"use_sim_time": True}],
         condition=IfCondition(
             AndSubstitution(LaunchConfiguration("moveit"), LaunchConfiguration("rviz"))
         ),
         remappings=[
-            ("robot_description", robot_name + "/robot_description"),
-            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
             ("display_planned_path", robot_name + "/display_planned_path"),
+            ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("robot_description", robot_name + "/robot_description"),
+            ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
     )
 

diff --git a/lbr_bringup/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>LBR launch files.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Advanced C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.1",
+    version="1.4.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.1",
+    version="1.4.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_ros2_control_python/package.xml b/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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_demos/lbr_demos_ros2_control_python/setup.py b/lbr_demos/lbr_demos_ros2_control_python/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.4.1",
+    version="1.4.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_description/package.xml b/lbr_description/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_description</name>
-  <version>1.4.1</version>
+  <version>1.4.2</version>
   <description>KUKA LBR description files</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_fri_msgs/package.xml b/lbr_fri_msgs/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_fri_msgs</name>
-  <version>1.4.1</version>
+  <version>1.4.2</version>
   <description>ROS 2 message for the Fast Robot Interface (FRI) specific states.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/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_fri_ros2</name>
-  <version>1.4.1</version>
+  <version>1.4.2</version>
   <description>The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS
     2. Robot states can be extracted and commanded.</description>
   <maintainer email="[email protected]">mhubii</maintainer>

diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/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_fri_ros2_stack</name>
-  <version>1.4.1</version>
+  <version>1.4.2</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>

diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/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_ros2_control</name>
-  <version>1.4.1</version>
+  <version>1.4.2</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>