updated namespace

lbr-stack · Jul 29, 2023 · eed7a73 · eed7a73
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commit eed7a73
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Showing 29 changed files with 123 additions and 121 deletions.
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>1.0.0</version>
+  <version>1.2.0</version>
   <description>LBR launch files.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -26,4 +26,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_fri_ros2_advanced_cpp_demos/package.xml b/lbr_demos/lbr_fri_ros2_advanced_cpp_demos/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_advanced_cpp_demos</name>
-  <version>1.0.0</version>
+  <version>1.2.0</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_fri_ros2_advanced_cpp_demos/src/admittance_control_node.cpp b/lbr_demos/lbr_fri_ros2_advanced_cpp_demos/src/admittance_control_node.cpp
@@ -23,11 +23,11 @@ class AdmittanceControlNode : public rclcpp::Node {
         this->get_parameter("end_effector_link").as_string());
 
     lbr_command_pub_ = create_publisher<lbr_fri_msgs::msg::LBRCommand>(
-        "/lbr_command", rclcpp::QoS(1)
+        "/lbr/command", rclcpp::QoS(1)
                             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
                             .deadline(std::chrono::milliseconds(10)));
     lbr_state_sub_ = create_subscription<lbr_fri_msgs::msg::LBRState>(
-        "/lbr_state",
+        "/lbr/state",
         rclcpp::QoS(1)
             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
             .deadline(std::chrono::milliseconds(10)),
@@ -73,17 +73,17 @@ class AdmittanceControlNode : public rclcpp::Node {
 int main(int argc, char **argv) {
   rclcpp::init(argc, argv);
 
-  auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  auto executor = std::make_shared<rclcpp::executors::StaticSingleThreadedExecutor>();
 
-  auto lbr_app_node = std::make_shared<rclcpp::Node>(
-      "lbr_app", rclcpp::NodeOptions().use_intra_process_comms(true));
+  auto lbr_node =
+      std::make_shared<rclcpp::Node>("lbr", rclcpp::NodeOptions().use_intra_process_comms(true));
 
-  auto lbr_app = lbr_fri_ros2::LBRApp(lbr_app_node);
+  auto lbr_app = lbr_fri_ros2::LBRApp(lbr_node);
 
   auto admittance_control_node = std::make_shared<AdmittanceControlNode>(
       "admittance_control_node", rclcpp::NodeOptions().use_intra_process_comms(true));
 
-  executor->add_node(lbr_app_node);
+  executor->add_node(lbr_node);
   executor->add_node(admittance_control_node);
   executor->spin();
 

diff --git a/..._ros2_advanced_python_demos/lbr_fri_ros2_advanced_python_demos/admittance_control_node.py b/..._ros2_advanced_python_demos/lbr_fri_ros2_advanced_python_demos/admittance_control_node.py
@@ -30,7 +30,7 @@ def __init__(self, node_name="admittance_control_node") -> None:
         # publishers and subscribers
         self.lbr_state_sub_ = self.create_subscription(
             LBRState,
-            "/lbr_state",
+            "/lbr/state",
             self.on_lbr_state_,
             QoSProfile(
                 depth=1,
@@ -40,7 +40,7 @@ def __init__(self, node_name="admittance_control_node") -> None:
         )
         self.lbr_command_pub_ = self.create_publisher(
             LBRCommand,
-            "/lbr_command",
+            "/lbr/command",
             QoSProfile(
                 depth=1,
                 reliability=ReliabilityPolicy.RELIABLE,

diff --git a/lbr_demos/lbr_fri_ros2_advanced_python_demos/package.xml b/lbr_demos/lbr_fri_ros2_advanced_python_demos/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_advanced_python_demos</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -19,4 +19,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_fri_ros2_advanced_python_demos/setup.py b/lbr_demos/lbr_fri_ros2_advanced_python_demos/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.1.0",
+    version="1.2.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_fri_ros2_cpp_demos/package.xml b/lbr_demos/lbr_fri_ros2_cpp_demos/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_cpp_demos</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -14,11 +14,11 @@
   <depend>rclcpp</depend>
 
   <exec_depend>lbr_fri_ros2</exec_depend>
-  
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_fri_ros2_cpp_demos/src/joint_sine_overlay_node.cpp b/lbr_demos/lbr_fri_ros2_cpp_demos/src/joint_sine_overlay_node.cpp
@@ -20,13 +20,13 @@ class JointSineOverlayNode : public rclcpp::Node {
   JointSineOverlayNode(const std::string &node_name) : Node(node_name), phase_(0.) {
     // create publisher to /lbr_command
     lbr_command_pub_ = this->create_publisher<lbr_fri_msgs::msg::LBRCommand>(
-        "/lbr_command", rclcpp::QoS(1)
+        "/lbr/command", rclcpp::QoS(1)
                             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
                             .deadline(std::chrono::milliseconds(10)));
 
     // create subscription to /lbr_state
     lbr_state_sub_ = this->create_subscription<lbr_fri_msgs::msg::LBRState>(
-        "/lbr_state",
+        "/lbr/state",
         rclcpp::QoS(1)
             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
             .deadline(std::chrono::milliseconds(10)),

diff --git a/lbr_demos/lbr_fri_ros2_cpp_demos/src/torque_sine_overlay_node.cpp b/lbr_demos/lbr_fri_ros2_cpp_demos/src/torque_sine_overlay_node.cpp
@@ -20,13 +20,13 @@ class TorqueSineOverlayNode : public rclcpp::Node {
   TorqueSineOverlayNode(const std::string &node_name) : Node(node_name), phase_(0.) {
     // create publisher to /lbr_command
     lbr_command_pub_ = this->create_publisher<lbr_fri_msgs::msg::LBRCommand>(
-        "/lbr_command", rclcpp::QoS(1)
+        "/lbr/command", rclcpp::QoS(1)
                             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
                             .deadline(std::chrono::milliseconds(10)));
 
     // create subscription to /lbr_state
     lbr_state_sub_ = this->create_subscription<lbr_fri_msgs::msg::LBRState>(
-        "/lbr_state",
+        "/lbr/state",
         rclcpp::QoS(1)
             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
             .deadline(std::chrono::milliseconds(10)),

diff --git a/lbr_demos/lbr_fri_ros2_cpp_demos/src/wrench_sine_overlay_node.cpp b/lbr_demos/lbr_fri_ros2_cpp_demos/src/wrench_sine_overlay_node.cpp
@@ -23,13 +23,13 @@ class WrenchSineOverlayNode : public rclcpp::Node {
       : Node(node_name), phase_x_(0.), phase_y_(0.) {
     // create publisher to /lbr_command
     lbr_command_pub_ = this->create_publisher<lbr_fri_msgs::msg::LBRCommand>(
-        "/lbr_command", rclcpp::QoS(1)
+        "/lbr/command", rclcpp::QoS(1)
                             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
                             .deadline(std::chrono::milliseconds(10)));
 
     // create subscription to /lbr_state
     lbr_state_sub_ = this->create_subscription<lbr_fri_msgs::msg::LBRState>(
-        "/lbr_state",
+        "/lbr/state",
         rclcpp::QoS(1)
             .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
             .deadline(std::chrono::milliseconds(10)),

diff --git a/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/joint_sine_overlay_node.py b/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/joint_sine_overlay_node.py
@@ -21,7 +21,7 @@ def __init__(self, node_name: str) -> None:
         # create publisher to /lbr_command
         self.lbr_command_pub_ = self.create_publisher(
             LBRCommand,
-            "/lbr_command",
+            "/lbr/command",
             QoSProfile(
                 depth=1,
                 reliability=ReliabilityPolicy.RELIABLE,
@@ -32,7 +32,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to /lbr_state
         self.lbr_state_sub_ = self.create_subscription(
             LBRState,
-            "/lbr_state",
+            "/lbr/state",
             self.on_lbr_state_,
             QoSProfile(
                 depth=1,

diff --git a/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/torque_sine_overlay_node.py b/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/torque_sine_overlay_node.py
@@ -21,7 +21,7 @@ def __init__(self, node_name: str) -> None:
         # create publisher to /lbr_command
         self.lbr_command_pub_ = self.create_publisher(
             LBRCommand,
-            "/lbr_command",
+            "/lbr/command",
             QoSProfile(
                 depth=1,
                 reliability=ReliabilityPolicy.RELIABLE,
@@ -32,7 +32,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to /lbr_state
         self.lbr_state_sub_ = self.create_subscription(
             LBRState,
-            "/lbr_state",
+            "/lbr/state",
             self.on_lbr_state_,
             QoSProfile(
                 depth=1,

diff --git a/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/wrench_sine_overlay_node.py b/lbr_demos/lbr_fri_ros2_python_demos/lbr_fri_ros2_python_demos/wrench_sine_overlay_node.py
@@ -21,7 +21,7 @@ def __init__(self, node_name: str) -> None:
         # create publisher to /lbr_command
         self.lbr_command_pub_ = self.create_publisher(
             LBRCommand,
-            "/lbr_command",
+            "/lbr/command",
             QoSProfile(
                 depth=1,
                 reliability=ReliabilityPolicy.RELIABLE,
@@ -32,7 +32,7 @@ def __init__(self, node_name: str) -> None:
         # create subscription to /lbr_state
         self.lbr_state_sub_ = self.create_subscription(
             LBRState,
-            "/lbr_state",
+            "/lbr/state",
             self.on_lbr_state_,
             QoSProfile(
                 depth=1,

diff --git a/lbr_demos/lbr_fri_ros2_python_demos/package.xml b/lbr_demos/lbr_fri_ros2_python_demos/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_python_demos</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -19,4 +19,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_fri_ros2_python_demos/setup.py b/lbr_demos/lbr_fri_ros2_python_demos/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.1.0",
+    version="1.2.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

diff --git a/lbr_demos/lbr_ros2_control_cpp_demos/package.xml b/lbr_demos/lbr_ros2_control_cpp_demos/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_cpp_demos</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -26,4 +26,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_ros2_control_python_demos/package.xml b/lbr_demos/lbr_ros2_control_python_demos/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_python_demos</name>
-  <version>1.1.0</version>
+  <version>1.2.0</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -23,4 +23,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_demos/lbr_ros2_control_python_demos/setup.py b/lbr_demos/lbr_ros2_control_python_demos/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.1.0",
+    version="1.2.0",
     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>1.0.0</version>
+  <version>1.2.0</version>
   <description>KUKA LBR description files</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
@@ -15,9 +15,9 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
- <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_description/ros2_control/lbr.ros2_control.xacro b/lbr_description/ros2_control/lbr.ros2_control.xacro
@@ -26,6 +26,7 @@
                     <param name="remote_host">${remote_host}</param>
                     <param name="port_id">${port_id}</param>
                     <param name="sample_time">${sample_time}</param>
+                    <param name="robot_name">${robot_name}</param>
                 </hardware>
             </xacro:unless>
 

diff --git a/lbr_fri_msgs/package.xml b/lbr_fri_msgs/package.xml
@@ -2,14 +2,14 @@
 <?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>1.0.0</version>
+  <version>1.2.0</version>
   <description>ROS 2 message for the Fast Robot Interface (FRI) specific states.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  
+
   <depend>builtin_interfaces</depend>
   <depend>std_msgs</depend>
 
@@ -22,4 +22,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
@@ -2,8 +2,9 @@
 <?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>1.1.0</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>
+  <version>1.2.0</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>
   <license>MIT</license>
 
@@ -22,4 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
diff --git a/lbr_fri_ros2/src/lbr_app_component.cpp b/lbr_fri_ros2/src/lbr_app_component.cpp
@@ -2,13 +2,13 @@
 
 namespace lbr_fri_ros2 {
 LBRAppComponent::LBRAppComponent(const rclcpp::NodeOptions &options) {
-  node_ = std::make_shared<rclcpp::Node>("lbr_component", options);
-  lbr_app_ = std::make_unique<lbr_fri_ros2::LBRApp>(node_);
+  lbr_node_ = std::make_shared<rclcpp::Node>("lbr", options);
+  lbr_app_ = std::make_unique<lbr_fri_ros2::LBRApp>(lbr_node_);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
 LBRAppComponent::get_node_base_interface() const {
-  return node_->get_node_base_interface();
+  return lbr_node_->get_node_base_interface();
 }
 } // end of namespace lbr_fri_ros2
 

diff --git a/lbr_fri_ros2/src/lbr_app_component.hpp b/lbr_fri_ros2/src/lbr_app_component.hpp
@@ -30,8 +30,8 @@ class LBRAppComponent {
 
 protected:
   std::unique_ptr<lbr_fri_ros2::LBRApp>
-      lbr_app_;                  /** #LBRApp for communicating with the hardware.<*/
-  rclcpp::Node::SharedPtr node_; /** Node for communicating with ROS.<*/
+      lbr_app_;                      /** #LBRApp for communicating with the hardware.<*/
+  rclcpp::Node::SharedPtr lbr_node_; /** Node for communicating with ROS.<*/
 };
 } // end of namespace lbr_fri_ros2
 #endif // LBR_FRI_ROS2__LBR_COMPONENT_HPP_