diff --git a/CHANGELOG.rst b/CHANGELOG.rst index 631682ef..098328c3 100644 --- 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 index ba395de7..752aa9bc 100644 --- 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 index bd95240a..fab6d4e3 100644 --- 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 index 13359bc9..5bb5a279 100644 --- 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 index b72fa1dd..9fd377f9 100644 --- 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 index 4b2f5c6c..49749b49 100644 --- a/lbr_bringup/package.xml +++ b/lbr_bringup/package.xml @@ -2,7 +2,7 @@ lbr_bringup - 1.4.1 + 1.4.2 LBR launch files. mhubii MIT diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml index 1d4ee129..75eba02b 100644 --- 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 @@ lbr_demos_fri_ros2_advanced_cpp - 1.4.1 + 1.4.2 Advanced C++ demos for the lbr_fri_ros2. mhubii MIT diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml index 73f3cd9f..42431403 100644 --- 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 @@ lbr_demos_fri_ros2_advanced_python - 1.4.1 + 1.4.2 Advanced Python demos for the lbr_fri_ros2. mhubii MIT diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py index 6b458480..760a1b67 100644 --- 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 index b7ba77d6..2d075c62 100644 --- a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml +++ b/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml @@ -2,7 +2,7 @@ lbr_demos_fri_ros2_cpp - 1.4.1 + 1.4.2 C++ demos for the lbr_fri_ros2. mhubii MIT diff --git a/lbr_demos/lbr_demos_fri_ros2_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_python/package.xml index 491a6316..c9c8386f 100644 --- a/lbr_demos/lbr_demos_fri_ros2_python/package.xml +++ b/lbr_demos/lbr_demos_fri_ros2_python/package.xml @@ -2,7 +2,7 @@ lbr_demos_fri_ros2_python - 1.4.1 + 1.4.2 Python demos for the lbr_fri_ros2. mhubii MIT diff --git a/lbr_demos/lbr_demos_fri_ros2_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_python/setup.py index 53b5552d..4b334216 100644 --- 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 index 269d0f63..f1cc7cce 100644 --- a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml +++ b/lbr_demos/lbr_demos_ros2_control_cpp/package.xml @@ -2,7 +2,7 @@ lbr_demos_ros2_control_cpp - 1.4.1 + 1.4.2 C++ demos for the LBR ros2_control integration. mhubii MIT diff --git a/lbr_demos/lbr_demos_ros2_control_python/package.xml b/lbr_demos/lbr_demos_ros2_control_python/package.xml index ac846a06..a8019b20 100644 --- a/lbr_demos/lbr_demos_ros2_control_python/package.xml +++ b/lbr_demos/lbr_demos_ros2_control_python/package.xml @@ -2,7 +2,7 @@ lbr_demos_ros2_control_python - 1.4.1 + 1.4.2 Python demos for the LBR ros2_control integration. mhubii MIT diff --git a/lbr_demos/lbr_demos_ros2_control_python/setup.py b/lbr_demos/lbr_demos_ros2_control_python/setup.py index 1fb99056..7b5c3f7c 100644 --- 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 index 6122b3e9..62fd5434 100644 --- a/lbr_description/package.xml +++ b/lbr_description/package.xml @@ -2,7 +2,7 @@ lbr_description - 1.4.1 + 1.4.2 KUKA LBR description files mhubii MIT diff --git a/lbr_fri_msgs/package.xml b/lbr_fri_msgs/package.xml index 26a22ca5..cb5997e5 100644 --- a/lbr_fri_msgs/package.xml +++ b/lbr_fri_msgs/package.xml @@ -2,7 +2,7 @@ lbr_fri_msgs - 1.4.1 + 1.4.2 ROS 2 message for the Fast Robot Interface (FRI) specific states. mhubii MIT diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml index 293fbf16..9286012f 100644 --- a/lbr_fri_ros2/package.xml +++ b/lbr_fri_ros2/package.xml @@ -2,7 +2,7 @@ lbr_fri_ros2 - 1.4.1 + 1.4.2 The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS 2. Robot states can be extracted and commanded. mhubii diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/package.xml index 241dd32d..971eec27 100644 --- a/lbr_fri_ros2_stack/package.xml +++ b/lbr_fri_ros2_stack/package.xml @@ -2,7 +2,7 @@ lbr_fri_ros2_stack - 1.4.1 + 1.4.2 ROS 2 stack for KUKA LBRs. mhubii MIT diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/package.xml index 9143a552..26daa7c0 100644 --- a/lbr_ros2_control/package.xml +++ b/lbr_ros2_control/package.xml @@ -2,7 +2,7 @@ lbr_ros2_control - 1.4.1 + 1.4.2 ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI). mhubii MIT