Merge pull request #99 from lbr-stack/dev-humble-open-loop

Humble v1.2.2
lbr-stack · Aug 5, 2023 · 1f1d88b · 1f1d88b
2 parents a662f9b + 684b13d
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diff --git a/README.md b/README.md
@@ -29,7 +29,7 @@ ros2 launch lbr_bringup bringup.launch.py \
 Now, run the [demos](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Documentation](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/index.html) above.
 
 ## Acknowledgements
-<img src="https://www.kcl.ac.uk/newimages/Wellcome-EPSRC-Centre-medical-engineering-logo.xa827df3f.JPG?f=webp" alt="wellcome" height="45" width="65" align="left">
+<img src="https://medicalengineering.org.uk/wp-content/themes/aalto-child/_assets/images/medicalengineering-logo.svg" alt="wellcome" height="45" width="65" align="left">
 
 This work was supported by core and project funding from the Wellcome/EPSRC [WT203148/Z/16/Z; NS/A000049/1; WT101957; NS/A000027/1]. 
 

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>1.2.1</version>
+  <version>1.2.2</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>1.2.1</version>
+  <version>1.2.2</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_cpp/src/admittance_controller.hpp b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_controller.hpp
@@ -26,7 +26,7 @@ class AdmittanceController {
                        const std::string &end_effector_link = "lbr_link_ee",
                        const CartesianVector &f_ext_th = {2., 2., 2., 0.5, 0.5, 0.5},
                        const JointVector &dq_gains = {1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5},
-                       const CartesianVector &dx_gains = {1.0, 1.0, 1.0, 20., 40., 60.})
+                       const CartesianVector &dx_gains = {1.5, 1.5, 1.5, 20., 40., 60.})
       : dq_gains_(dq_gains), dx_gains_(dx_gains), f_ext_th_(f_ext_th) {
     if (!kdl_parser::treeFromString(robot_description, tree_)) {
       throw std::runtime_error("Failed to construct kdl tree from robot description.");

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>1.2.1</version>
+  <version>1.2.2</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="1.2.1",
+    version="1.2.2",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/doc/lbr_demos_fri_ros2_cpp.rst b/lbr_demos/lbr_demos_fri_ros2_cpp/doc/lbr_demos_fri_ros2_cpp.rst
@@ -20,7 +20,7 @@ Joint Sine Overlay
 
     ros2 launch lbr_demos_fri_ros2_cpp joint_sine_overlay.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position via position control, then execute a rotation on joint ``A1 = lbr_joint_0``. A sinusoidal motion is overlayed on joint ``A4 = lbr_joint_3`` via `joint_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_cpp/src/joint_sine_overlay_node.cpp>`_.
+The robot will move to the initial position via position control, then execute a rotation on joint ``A1``. A sinusoidal motion is overlayed on joint ``A4`` via `joint_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_cpp/src/joint_sine_overlay_node.cpp>`_.
 
 Torque Sine Overlay
 -------------------
@@ -34,7 +34,7 @@ Torque Sine Overlay
 
     ros2 launch lbr_demos_fri_ros2_cpp torque_sine_overlay.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position via joint impedance control. A sinusoidal torque is overlayed on joint ``A4 = lbr_joint_3`` via `torque_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_cpp/src/torque_sine_overlay_node.cpp>`_.
+The robot will move to the initial position via joint impedance control. A sinusoidal torque is overlayed on joint ``A4`` via `torque_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_cpp/src/torque_sine_overlay_node.cpp>`_.
 
 Wrench Sine Overlay
 -------------------

diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/joint_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/joint_sine_overlay.launch.py
@@ -1,39 +1,28 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description import DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from lbr_description import LBRDescriptionMixin
+from lbr_fri_ros2 import LBRFRIROS2Mixin
 
-def generate_launch_description() -> LaunchDescription:
-    model_arg = DeclareLaunchArgument(
-        name="model",
-        default_value="iiwa7",
-        description="The LBR model in use.",
-        choices=["iiwa7", "iiwa14", "med7", "med14"],
-    )
 
-    lbr_app = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("lbr_fri_ros2"),
-                "launch",
-                "lbr_app.launch.py",
-            )
-        ),
-        launch_arguments=[
-            ("model", LaunchConfiguration("model")),
-        ],
+def generate_launch_description() -> LaunchDescription:
+    ld = LaunchDescription()
+    ld.add_action(LBRDescriptionMixin.arg_model())
+    ld.add_action(LBRDescriptionMixin.arg_robot_name())
+    robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
+    ld.add_action(
+        LBRFRIROS2Mixin.node_lbr_app(
+            parameters=[
+                robot_description,
+                LBRDescriptionMixin.param_robot_name(),
+            ]
+        )
     )
-
-    joint_sine_overlay_node = Node(
-        package="lbr_demos_fri_ros2_cpp",
-        executable="joint_sine_overlay_node",
-        output="screen",
+    ld.add_action(
+        Node(
+            package="lbr_demos_fri_ros2_cpp",
+            executable="joint_sine_overlay_node",
+            output="screen",
+        )
     )
-
-    return LaunchDescription([model_arg, lbr_app, joint_sine_overlay_node])
+    return ld
diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/torque_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/torque_sine_overlay.launch.py
@@ -1,39 +1,28 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description import DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from lbr_description import LBRDescriptionMixin
+from lbr_fri_ros2 import LBRFRIROS2Mixin
 
-def generate_launch_description() -> LaunchDescription:
-    model_arg = DeclareLaunchArgument(
-        name="model",
-        default_value="iiwa7",
-        description="The LBR model in use.",
-        choices=["iiwa7", "iiwa14", "med7", "med14"],
-    )
 
-    lbr_app = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("lbr_fri_ros2"),
-                "launch",
-                "lbr_app.launch.py",
-            )
-        ),
-        launch_arguments=[
-            ("model", LaunchConfiguration("model")),
-        ],
+def generate_launch_description() -> LaunchDescription:
+    ld = LaunchDescription()
+    ld.add_action(LBRDescriptionMixin.arg_model())
+    ld.add_action(LBRDescriptionMixin.arg_robot_name())
+    robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
+    ld.add_action(
+        LBRFRIROS2Mixin.node_lbr_app(
+            parameters=[
+                robot_description,
+                LBRDescriptionMixin.param_robot_name(),
+            ]
+        )
     )
-
-    torque_sine_overlay_node = Node(
-        package="lbr_demos_fri_ros2_cpp",
-        executable="torque_sine_overlay_node",
-        output="screen",
+    ld.add_action(
+        Node(
+            package="lbr_demos_fri_ros2_cpp",
+            executable="torque_sine_overlay_node",
+            output="screen",
+        )
     )
-
-    return LaunchDescription([model_arg, lbr_app, torque_sine_overlay_node])
+    return ld
diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/launch/wrench_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_cpp/launch/wrench_sine_overlay.launch.py
@@ -1,39 +1,28 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description import DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from lbr_description import LBRDescriptionMixin
+from lbr_fri_ros2 import LBRFRIROS2Mixin
 
-def generate_launch_description() -> LaunchDescription:
-    model_arg = DeclareLaunchArgument(
-        name="model",
-        default_value="iiwa7",
-        description="The LBR model in use.",
-        choices=["iiwa7", "iiwa14", "med7", "med14"],
-    )
 
-    lbr_app = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("lbr_fri_ros2"),
-                "launch",
-                "lbr_app.launch.py",
-            )
-        ),
-        launch_arguments=[
-            ("model", LaunchConfiguration("model")),
-        ],
+def generate_launch_description() -> LaunchDescription:
+    ld = LaunchDescription()
+    ld.add_action(LBRDescriptionMixin.arg_model())
+    ld.add_action(LBRDescriptionMixin.arg_robot_name())
+    robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
+    ld.add_action(
+        LBRFRIROS2Mixin.node_lbr_app(
+            parameters=[
+                robot_description,
+                LBRDescriptionMixin.param_robot_name(),
+            ]
+        )
     )
-
-    wrench_sine_overlay_node = Node(
-        package="lbr_demos_fri_ros2_cpp",
-        executable="wrench_sine_overlay_node",
-        output="screen",
+    ld.add_action(
+        Node(
+            package="lbr_demos_fri_ros2_cpp",
+            executable="wrench_sine_overlay_node",
+            output="screen",
+        )
     )
-
-    return LaunchDescription([model_arg, lbr_app, wrench_sine_overlay_node])
+    return ld
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>1.2.1</version>
+  <version>1.2.2</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/doc/lbr_demos_fri_ros2_python.rst b/lbr_demos/lbr_demos_fri_ros2_python/doc/lbr_demos_fri_ros2_python.rst
@@ -20,7 +20,7 @@ Joint Sine Overlay
 
     ros2 launch lbr_demos_fri_ros2_python joint_sine_overlay.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position via position control, then execute a rotation on joint ``A1 = lbr_joint_0``. A sinusoidal motion is overlayed on joint ``A4 = lbr_joint_3`` via `joint_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_python/lbr_demos_fri_ros2_python/joint_sine_overlay_node.py>`_.
+The robot will move to the initial position via position control, then execute a rotation on joint ``A1``. A sinusoidal motion is overlayed on joint ``A4`` via `joint_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_python/lbr_demos_fri_ros2_python/joint_sine_overlay_node.py>`_.
 
 Torque Sine Overlay
 -------------------
@@ -34,7 +34,7 @@ Torque Sine Overlay
 
     ros2 launch lbr_demos_fri_ros2_python torque_sine_overlay.launch.py model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
-The robot will move to the initial position via joint impedance control. A sinusoidal torque is overlayed on joint ``A4 = lbr_joint_3`` via `torque_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_python/lbr_demos_fri_ros2_python/torque_sine_overlay_node.py>`_.
+The robot will move to the initial position via joint impedance control. A sinusoidal torque is overlayed on joint ``A4`` via `torque_sine_overlay_node <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_fri_ros2_python/lbr_demos_fri_ros2_python/torque_sine_overlay_node.py>`_.
 
 Wrench Sine Overlay
 -------------------

diff --git a/lbr_demos/lbr_demos_fri_ros2_python/launch/joint_sine_overlay.launch.py b/lbr_demos/lbr_demos_fri_ros2_python/launch/joint_sine_overlay.launch.py
@@ -1,39 +1,28 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description import DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from lbr_description import LBRDescriptionMixin
+from lbr_fri_ros2 import LBRFRIROS2Mixin
 
-def generate_launch_description() -> LaunchDescription:
-    model_arg = DeclareLaunchArgument(
-        name="model",
-        default_value="iiwa7",
-        description="The LBR model in use.",
-        choices=["iiwa7", "iiwa14", "med7", "med14"],
-    )
 
-    lbr_app = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory("lbr_fri_ros2"),
-                "launch",
-                "lbr_app.launch.py",
-            )
-        ),
-        launch_arguments=[
-            ("model", LaunchConfiguration("model")),
-        ],
+def generate_launch_description() -> LaunchDescription:
+    ld = LaunchDescription()
+    ld.add_action(LBRDescriptionMixin.arg_model())
+    ld.add_action(LBRDescriptionMixin.arg_robot_name())
+    robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
+    ld.add_action(
+        LBRFRIROS2Mixin.node_lbr_app(
+            parameters=[
+                robot_description,
+                LBRDescriptionMixin.param_robot_name(),
+            ]
+        )
     )
-
-    joint_sine_overlay_node = Node(
-        package="lbr_demos_fri_ros2_python",
-        executable="joint_sine_overlay_node",
-        output="screen",
+    ld.add_action(
+        Node(
+            package="lbr_demos_fri_ros2_python",
+            executable="joint_sine_overlay_node",
+            output="screen",
+        )
     )
-
-    return LaunchDescription([model_arg, lbr_app, joint_sine_overlay_node])
+    return ld