From 2a45cfedd1999bec2addf0cf5dad3af708137385 Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 21 Nov 2023 14:37:55 +0000 Subject: [PATCH 1/6] updated readme --- README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 2adbf21..d0cd5fc 100644 --- a/README.md +++ b/README.md @@ -43,11 +43,12 @@ Open and browse the documentation by opening `doc/source/html/index.html`. To build the [paper](paper/paper.md) via [Docker](https://joss.readthedocs.io/en/latest/submitting.html#docker), run ```shell -docker run --rm \ - --volume $PWD/paper:/data \ - --user $(id -u):$(id -g) \ - --env JOURNAL=joss \ - openjournals/inara +docker run --rm -it \ + -v $PWD:/data \ + -u $(id -u):$(id -g) \ + openjournals/inara \ + -o pdf,crossref,preprint \ + paper/paper.md ``` inside the `lbr_stack_doc` repository. From 8017d56f79cf01f02227860d6befe98ddca52051 Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 21 Nov 2023 14:52:49 +0000 Subject: [PATCH 2/6] updated paper --- paper/paper.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/paper/paper.md b/paper/paper.md index 5d14938..357a65a 100644 --- a/paper/paper.md +++ b/paper/paper.md @@ -47,7 +47,7 @@ At the `LBR-Stack`'s core are two packages: All other packages are built on top. These include Python bindings and packages for integration into the Robot Operating System (ROS) and ROS 2: - - **pyFRIClient**: Python bindings for the **fri**. + - **pyFRI**: Python bindings for the **fri**. - **lbr_fri_ros2_stack**: ROS 1/2 integration of the `KUKA LBR`s through the **fri_vendor**. For brevity, and due to the architectural advantages over ROS [@ros2], only ROS 2 is considered in the following. The **lbr_fri_ros2_stack** comprises the following packages: @@ -78,14 +78,14 @@ Limitations with the current FRI solutions are: The first original contribution of this work is to add support for the `KUKA LBR Med7/14` robots, which, to the best author's knowledge, does not exist in any other work. The second novel contribution of this work is to provide Python bindings. This work solves the maintainability by outsourcing the FRI into the separate **fri** and **fri_vendor** packages, which leaves the FRI's source code untouched and simply provides build support. 4. is solved by defining an IDL message to KUKA's `nanopb` command and state protocol buffers in **lbr_fri_msgs**. These messages can then be interfaced from ROS 1/2 topics or from the ROS 1/2 hardware abstraction layer. -| Framework | iiwa | Med | ROS | ROS 2 | RT | FRI | Pos | Imp | Cart Imp | HW IF | -| --------------- | ---- |---- | --- | ------ | -- | ---- | --- | --- | -------- | ------ | -|[lbr_fri_ros2_stack](https://github.com/lbr-stack/lbr_fri_ros2_stack) | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | -| [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | \bullet | | \bullet | | \bullet | \bullet | \bullet | \bullet | | \bullet | -| [iiwa_ros2](https://github.com/ICube-Robotics/iiwa_ros2) | \bullet | | | \bullet | \bullet | \bullet | \bullet | \bullet | | \bullet | -| [iiwa-stack](https://github.com/IFL-CAMP/iiwa_stack) | \bullet | | \bullet | | | | \bullet | \bullet | \bullet | | -| [libiiwa](https://github.com/Toni-SM/libiiwa) | \bullet | | \bullet | \bullet | | | \bullet | \bullet | \bullet | | -| [KST-KUKA](https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox) | \bullet | | | | | | \bullet | \bullet | \bullet | | +| Framework | iiwa | Med | ROS | ROS 2 | RT | FRI | pyFRI | Pos | Imp | Cart Imp | HW IF | +| --------------- | ---- |---- | --- | ------ | -- | --- | ----- | --- | --- | -------- | ------ | +| [lbr-stack](https://github.com/lbr-stack) | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | +| [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | \bullet | | \bullet | | \bullet | \bullet | | \bullet | \bullet | | \bullet | +| [iiwa_ros2](https://github.com/ICube-Robotics/iiwa_ros2) | \bullet | | | \bullet | \bullet | \bullet | | \bullet | \bullet | | \bullet | +| [iiwa-stack](https://github.com/IFL-CAMP/iiwa_stack) | \bullet | | \bullet | | | | | \bullet | \bullet | \bullet | | +| [libiiwa](https://github.com/Toni-SM/libiiwa) | \bullet | | \bullet | \bullet | | | | \bullet | \bullet | \bullet | | +| [KST-KUKA](https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox) | \bullet | | | | | | | \bullet | \bullet | \bullet | | Table: Overview of existing frameworks for interfacing the KUKA LBRs. A square indicates support for the respective feature. List of abbreviations: Hard Real-time (**RT**), Position Control (**Pos**), Impedance Control (**Imp**), Cartesian Impedance Control (**Cart Imp**), Hardware Interface (**HW IF**). From dcc88e34af0291948a953a7ff3c5e264483b9efa Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 21 Nov 2023 14:57:59 +0000 Subject: [PATCH 3/6] updated paper --- paper/paper.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/paper/paper.md b/paper/paper.md index 357a65a..62be016 100644 --- a/paper/paper.md +++ b/paper/paper.md @@ -57,7 +57,7 @@ For brevity, and due to the architectural advantages over ROS [@ros2], only ROS - **lbr_demos**: Demonstrations for simulation and the real robots. - **lbr_fri_msgs**: Interface Definition Language (IDL) equivalent of FRI protocol buffers. - **lbr_fri_ros2**: FRI ROS 2 interface through `realtime_tools` [@ros_control]. -- **lbr_hardware_interface**: Interface for `ros2_control` [@ros2_control]. +- **lbr_ros2_control**: Interface and controllers for `ros2_control` [@ros2_control]. - **lbr_moveit_config**: MoveIt 2 configurations [@moveit]. # Statement of need From f1277ff4aef114e4ab33d32082650f4d8736a966 Mon Sep 17 00:00:00 2001 From: mhubii Date: Tue, 21 Nov 2023 15:01:40 +0000 Subject: [PATCH 4/6] fixed tex bug --- paper/paper.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/paper/paper.md b/paper/paper.md index 62be016..09bb00b 100644 --- a/paper/paper.md +++ b/paper/paper.md @@ -80,12 +80,12 @@ The first original contribution of this work is to add support for the `KUKA LBR | Framework | iiwa | Med | ROS | ROS 2 | RT | FRI | pyFRI | Pos | Imp | Cart Imp | HW IF | | --------------- | ---- |---- | --- | ------ | -- | --- | ----- | --- | --- | -------- | ------ | -| [lbr-stack](https://github.com/lbr-stack) | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | \bullet | -| [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | \bullet | | \bullet | | \bullet | \bullet | | \bullet | \bullet | | \bullet | -| [iiwa_ros2](https://github.com/ICube-Robotics/iiwa_ros2) | \bullet | | | \bullet | \bullet | \bullet | | \bullet | \bullet | | \bullet | -| [iiwa-stack](https://github.com/IFL-CAMP/iiwa_stack) | \bullet | | \bullet | | | | | \bullet | \bullet | \bullet | | -| [libiiwa](https://github.com/Toni-SM/libiiwa) | \bullet | | \bullet | \bullet | | | | \bullet | \bullet | \bullet | | -| [KST-KUKA](https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox) | \bullet | | | | | | | \bullet | \bullet | \bullet | | +| [lbr-stack](https://github.com/lbr-stack) | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | +| [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | $\bullet$ | | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | +| [iiwa_ros2](https://github.com/ICube-Robotics/iiwa_ros2) | $\bullet$ | | | $\bullet$ | $\bullet$ | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | +| [iiwa-stack](https://github.com/IFL-CAMP/iiwa_stack) | $\bullet$ | | $\bullet$ | | | | | $\bullet$ | $\bullet$ | $\bullet$ | | +| [libiiwa](https://github.com/Toni-SM/libiiwa) | $\bullet$ | | $\bullet$ | $\bullet$ | | | | $\bullet$ | $\bullet$ | $\bullet$ | | +| [KST-KUKA](https://github.com/Modi1987/KST-Kuka-Sunrise-Toolbox) | $\bullet$ | | | | | | | $\bullet$ | $\bullet$ | $\bullet$ | | Table: Overview of existing frameworks for interfacing the KUKA LBRs. A square indicates support for the respective feature. List of abbreviations: Hard Real-time (**RT**), Position Control (**Pos**), Impedance Control (**Imp**), Cartesian Impedance Control (**Cart Imp**), Hardware Interface (**HW IF**). 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z6Ws|w`zhT1s(4}joBrzbcMg_8r%mG`bFLaE=QX2YdJgD7JGBfZ;ee5FZv4S0w2lWhw6?^LMk zp+--$l^+3#(`(m{U_$j$8xj|yS*3@%c!Kf;IlgQq4AQ2*5~HB=uujd%#H{H5u>BH< zJLwtILVP;X|IdyUX}TFKWXufd(^zFYK(N>|8#59lMaPY;t>%F{7Y1T`Zo_qq$pWu) zDK@;P^(Lc4&8B!qv+ynSZ`%{K=6zQ50^Y`5ZZ+V|1T3%DOgzo-(-^NNmr$vNv9DfR zn6JgFm`})Tc`A#$emu3&O-`JG4Zqm7BQExGYiTc!t|M< z&Gu#rU*16M#{b2pE;e3|!mL;d;&%Jf??y}af$Xif$7i#d5NSRB=y(0}#718TMLKXs*s z{qQhK|E#!b8%0qEtOYM_7R$#y+OPqYoay`30;~^WjOXYX5urbz>i2a$%COD!C_{#B z7+ie0v+C@z2S+Mo$^Qb93P64@CvI9o0I?_Zv @@ -67,7 +75,7 @@ An overview of existing work that interfaces the KUKA LBRs from an external comp Limitations with the current FRI solutions are: -1. Only support `iiwa7/14` robots, not `Med7/14`. +1. Only support `IIWA7/14` robots, not `Med7/14`. 2. Don't provide Python bindings. 3. Maintainability: * Modified client source code [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros). @@ -78,7 +86,7 @@ Limitations with the current FRI solutions are: The first original contribution of this work is to add support for the `KUKA LBR Med7/14` robots, which, to the best author's knowledge, does not exist in any other work. The second novel contribution of this work is to provide Python bindings. This work solves the maintainability by outsourcing the FRI into the separate **fri** and **fri_vendor** packages, which leaves the FRI's source code untouched and simply provides build support. 4. is solved by defining an IDL message to KUKA's `nanopb` command and state protocol buffers in **lbr_fri_msgs**. These messages can then be interfaced from ROS 1/2 topics or from the ROS 1/2 hardware abstraction layer. -| Framework | iiwa | Med | ROS | ROS 2 | RT | FRI | pyFRI | Pos | Imp | Cart Imp | HW IF | +| Framework | IIWA | Med | ROS | ROS 2 | RT | FRI | pyFRI | Pos | Imp | Cart Imp | HW IF | | --------------- | ---- |---- | --- | ------ | -- | --- | ----- | --- | --- | -------- | ------ | | [lbr-stack](https://github.com/lbr-stack) | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | | [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | $\bullet$ | | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | From df011c234c6bba5b23f40078a886c4588d3a5a85 Mon Sep 17 00:00:00 2001 From: mhubii Date: Wed, 22 Nov 2023 10:43:46 +0000 Subject: [PATCH 6/6] Add citation info #20 --- CITATION.cff | 24 ++++++++++++++++++++++++ README.md | 15 +++++++++++++++ 2 files changed, 39 insertions(+) create mode 100644 CITATION.cff diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..2d2fbd4 --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,24 @@ +cff-version: 1.2.0 +message: "If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support." +authors: + - family-names: Huber + given-names: Martin + orcid: https://orcid.org/0000-0003-4603-6773 + - family-names: Mower + given-names: Christopher E. + orcid: https://orcid.org/0000-0002-3929-9391 + - family-names: Ourselin + given-names: Sebastien + orcid: https://orcid.org/0000-0002-5694-5340 + - family-names: Vercauteren + given-names: Tom + orcid: https://orcid.org/0000-0003-1794-0456 + - family-names: Bergeles + given-names: Christos + orcid: https://orcid.org/0000-0002-9152-3194 + + +title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots" +version: 1.3.1 +doi: 10.48550/arXiv.2311.12709 +date-released: 2023-11-22 diff --git a/README.md b/README.md index d0cd5fc..990fbf5 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,6 @@ # lbr_stack_doc [![Documentation Status](https://readthedocs.org/projects/lbr-fri-ros2-stack-doc/badge/?version=humble)](https://lbr-fri-ros2-stack-doc.readthedocs.io/en/humble/?badge=humble) +[![status](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef) This repository holds the documentation for the [lbr-stack](https://github.com/lbr-stack). @@ -53,6 +54,20 @@ docker run --rm -it \ inside the `lbr_stack_doc` repository. +## Citation +If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support. + +``` +@misc{huber2023lbrstack, + title={LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots}, + author={Martin Huber and Christopher E. Mower and Sebastien Ourselin and Tom Vercauteren and Christos Bergeles}, + year={2023}, + eprint={2311.12709}, + archivePrefix={arXiv}, + primaryClass={cs.RO} +} +``` + ## Acknowledgements wellcome