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Merge pull request #147 from lbr-stack/dev-humble-launch
todo: - [ ] Update docs - [ ] Update launch files - [ ] Fix webhooks
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‎.github/workflows/black.yml

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name: Lint
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on: [push, pull_request]
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jobs:
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lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: psf/black@stable

‎.github/workflows/build.yml

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branches:
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- humble
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schedule:
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- cron: '0 0 * * 0'
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- cron: "0 0 * * 0"
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# ros 2 ci: https://github.com/marketplace/actions/ros-2-ci-action
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# doc: https://ubuntu.com/blog/ros-2-ci-with-github-actions
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strategy:
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matrix:
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os: [ubuntu-latest]
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fri_version: [1.11, 1.14, 1.15, 1.16, 2.5]
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steps:
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- uses: ros-tooling/[email protected]
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- uses: ros-tooling/[email protected]
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with:
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package-name: lbr_fri_ros2_stack
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target-ros2-distro: humble
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vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
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vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/dev-humble-launch/lbr_fri_ros2_stack/repos-fri-${{ matrix.fri_version }}.yaml

‎README.md

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# lbr_fri_ros2_stack
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![Build status](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build.yml/badge.svg?branch=humble) ![GitHub](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)
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[![Build status](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build.yml/badge.svg?branch=humble)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions)
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[![License](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)](https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble?tab=Apache-2.0-1-ov-file#readme)
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[![Documentation Status](https://readthedocs.org/projects/lbr-stack/badge/?version=latest)](https://lbr-stack.readthedocs.io/en/latest/?badge=latest)
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[![status](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef)
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[![JOSS](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef)
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[![Code Style: Black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
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ROS 2 packages for the KUKA LBR, including communication to the real robot via the Fast Robot Interface ([FRI](https://github.com/lbr-stack/fri)) and [Gazebo](http://gazebosim.org/) simulation support. Included are the `iiwa7`, `iiwa14`, `med7`, and `med14`.
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<body>
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<table>
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<tr>
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<th align="left" width="25%">LBR IIWA7 R800</th>
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<th align="left" width="25%">LBR IIWA14 R820</th>
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<th align="left" width="25%">LBR Med7 R800</th>
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<th align="left" width="25%">LBR Med14 R820</th>
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<th align="left" width="25%">LBR IIWA 7 R800</th>
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<th align="left" width="25%">LBR IIWA 14 R820</th>
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<th align="left" width="25%">LBR Med 7 R800</th>
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<th align="left" width="25%">LBR Med 14 R820</th>
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</tr>
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<tr>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA7 R800"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA14 R820"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med7 R800"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med14 R820"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800"></td>
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<td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820"></td>
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</tr>
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</table>
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</body>
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## Documentation
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Full documentation available [here](https://lbr-stack.readthedocs.io/en/latest).
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Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io/en/latest).
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## Quick Start
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1. Install ROS 2 development tools
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2. Create a workspace, clone, and install dependencies
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```shell
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source /opt/ros/humble/setup.bash
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export FRI_CLIENT_VERSION=1.15
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mkdir -p lbr-stack/src && cd lbr-stack
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vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
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vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
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rosdep install --from-paths src -i -r -y
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```
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> [!NOTE]
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> FRI client is cloned from [fri](https://github.com/lbr-stack/fri) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
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3. Build
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```shell
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colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=1.15 --no-warn-unused-cli # replace by your FRI client version
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colcon build --symlink-install
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```
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> [!NOTE]
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> FRI client is added as external CMake project via [fri_vendor](https://github.com/lbr-stack/fri_vendor) and must be available as branch, refer [README](https://github.com/lbr-stack/fri?tab=readme-ov-file#contributing).
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4. Launch the simulation via
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```shell
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> [!TIP]
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> List all arguments for the launch file via `ros2 launch lbr_bringup bringup.launch.py -s`
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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-stack.readthedocs.io/en/latest) above.
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Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
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## Citation
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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.

‎docker/Dockerfile

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# change default shell to bash
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SHELL ["/bin/bash", "-c"]
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# set environment variables
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ARG FRI_CLIENT_VERSION=1.15
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# upgrade packages
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RUN apt-get update
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RUN apt-get upgrade -y
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# "--symlink-install" allows the code in the locally mounted volume ./src to be adjusted without rebuilding
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
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colcon build --symlink-install --cmake-args -DFRI_CLIENT_VERSION=${FRI_CLIENT_VERSION} --no-warn-unused-cli
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colcon build --symlink-install
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# source the workspace
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc

‎docker/container_build.sh

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docker rm lbr_stack_container
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docker build --build-arg FRI_CLIENT_VERSION=$1 -t lbr_stack_container .
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docker build -t lbr_stack_container .
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docker run -it \
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--network host \

‎docker/doc/docker.rst

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Docker
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docker
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======
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To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions below.
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.. code-block:: bash
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export FRI_CLIENT_VERSION=1.15 # replace by your FRI client version
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mkdir -p lbr-stack/src && cd lbr-stack
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vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos.yaml
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vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
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#. Copy the Dockerfile and the container scripts to the ``lbr-stack`` directory. Build and start the container
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.. code-block:: bash
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cp -r src/lbr_fri_ros2_stack/docker/* .
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chmod +x container_build.sh
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sudo ./container_build.sh 1.15 # replace by your FRI client version
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sudo ./container_build.sh
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#. Inside the container, launch e.g. simulation via (might require re-launch after Gazebo launched first time)
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‎lbr_bringup/CMakeLists.txt

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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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install(
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DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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# Launch mixins
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ament_python_install_package(${PROJECT_NAME})
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ament_python_install_package(launch_mixins)
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ament_package()

‎lbr_bringup/doc/lbr_bringup.rst

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LBR Bringup
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lbr_bringup
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===========
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The ``lbr_fri_ros2_stack`` is designed for research **and** deployment. It runs standalone, with ``ros2_control``, and thus also with ``MoveIt 2``. Details are described in below sections
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- :ref:`ROS 2 Control and MoveIt 2 Launch`
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- :ref:`Standalone Launch`
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Users may also refer to :ref:`Software Architecture` for a better understanding of the underlying ``lbr_fri_ros2`` package.
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.. note::
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For the real robot, make sure you have followed :ref:`Robot Setup` first.
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.. warning::
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On the real robot, do always execute in ``T1`` mode first.
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General Information on the FRI
17-
------------------------------
18-
The ``FRI`` lets the user select a ``FRI control mode`` and a ``FRI client command mode``. When running the ``LBRServer``:
19-
20-
- .. dropdown:: Select ``FRI control mode``
21-
22-
.. thumbnail:: ../../lbr_fri_ros2_stack/doc/img/controller/raw/lbr_server_control_mode.png
23-
24-
- .. dropdown:: Select ``FRI client command mode``
25-
26-
.. thumbnail:: ../../lbr_fri_ros2_stack/doc/img/controller/raw/lbr_server_client_command_mode.png
27-
28-
The ``FRI control mode`` specifies the mode in which the robot is controlled, and the ``FRI client command mode`` specifies the commands that the user sends.
29-
30-
ROS 2 Control and MoveIt 2 Launch
31-
---------------------------------
323
The ``lbr_bringup`` works for the simulation and the real robot. Run:
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.. code:: bash
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4213
.. note::
4314
For a list of available parameters, call ``ros2 launch lbr_bringup bringup.launch.py -s``.
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45-
When using the real robot
16+
When using the real robot, select ``sim:=false`` and
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4718
.. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
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4920
.. thumbnail:: ../../lbr_demos/doc/img/applications_lbr_server.png
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51-
and select:
22+
Select
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- ``FRI send period``: ``10 ms``
5425
- ``IP address``: ``your configuration``
5526
- ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` (will put the robot into a compliant mode)
5627
- ``FRI client command mode``: ``POSITION``
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Make sure that the ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_ is greater or equal ``100`` (``FRI send period``).
29+
Users may also refer to :ref:`Software Architecture` for a better understanding of the underlying ``lbr_fri_ros2`` package.
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60-
For using other ``FRI send period``, also change the ``sample_time`` in the `lbr_system_interface.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_system_interface.xacro>`_ (automated in the future).
31+
.. note::
32+
For the real robot, make sure you have followed :doc:`Hardware Setup <../../lbr_fri_ros2_stack/doc/hardware_setup>` first.
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62-
Standalone Launch
63-
-----------------
64-
Standalone launch is great for research. Only the the real robot is supported. It can be launched through:
34+
.. warning::
35+
On the real robot, do always execute in ``T1`` mode first.
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66-
.. code:: bash
37+
General Information on the FRI
38+
------------------------------
39+
The ``FRI`` lets the user select a ``FRI control mode`` and a ``FRI client command mode``. When running the ``LBRServer``:
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68-
ros2 launch lbr_fri_ros2 app.launch.py \
69-
model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
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robot_name:=lbr # any robot name
41+
- .. dropdown:: Select ``FRI control mode``
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This runs the :lbr_fri_ros2:`AppComponent <lbr_fri_ros2::AppComponent>`, which creates 2 topics, ``/robot_name/command`` for commands and ``/robot_name/state``. See :ref:`LBR Demos FRI ROS 2` for more examples and :ref:`LBR FRI ROS 2` for more documentation.
43+
.. thumbnail:: ../../lbr_fri_ros2_stack/doc/img/controller/raw/lbr_server_control_mode.png
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.. note::
75-
For a list of available parameters, call ``ros2 launch lbr_fri_ros2 app.launch.py -s``.
45+
- .. dropdown:: Select ``FRI client command mode``
46+
47+
.. thumbnail:: ../../lbr_fri_ros2_stack/doc/img/controller/raw/lbr_server_client_command_mode.png
48+
49+
The ``FRI control mode`` specifies the mode in which the robot is controlled, and the ``FRI client command mode`` specifies the commands that the user sends.
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7751
Troubleshooting
7852
---------------
7953
Noisy Execution
8054
~~~~~~~~~~~~~~~
81-
Three main causes:
82-
83-
- Frequency: Make sure the ``ros2_control_node`` runs at the same or a higher rate of the ``FRI send period``, change ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_.
84-
- Standalone noise: Smoothing might be required, see :ref:`LBR Demos FRI ROS 2`.
55+
- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_.
8556
- Realtime priority: Set real time priority in ``code /etc/security/limits.conf``, add the line: ``user - rtprio 99``, where user is your username.

‎lbr_bringup/launch/bringup.launch.py

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from launch import LaunchDescription
2-
from launch.actions import IncludeLaunchDescription, RegisterEventHandler
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from launch.actions import IncludeLaunchDescription
33
from launch.conditions import IfCondition, UnlessCondition
4-
from launch.event_handlers import OnIncludeLaunchDescription
54
from launch.launch_description_sources import PythonLaunchDescriptionSource
65
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
6+
from launch_mixins.lbr_description import LBRDescriptionMixin
77
from launch_ros.substitutions import FindPackageShare
88

9-
from lbr_description import LBRDescriptionMixin, RVizMixin
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def generate_launch_description() -> LaunchDescription:
1311
ld = LaunchDescription()

‎lbr_bringup/launch/move_group.launch.py

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from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
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from launch.actions import OpaqueFunction
55
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
6-
7-
from lbr_bringup import LBRMoveGroupMixin
8-
from lbr_description import LBRDescriptionMixin, RVizMixin
6+
from launch_mixins.lbr_bringup import LBRMoveGroupMixin
7+
from launch_mixins.lbr_description import LBRDescriptionMixin, RVizMixin
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def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:

‎lbr_bringup/launch/real.launch.py

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from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
55
from launch.conditions import IfCondition
6-
from launch.event_handlers import OnProcessExit, OnProcessStart
6+
from launch.event_handlers import OnProcessStart
77
from launch.substitutions import (
88
AndSubstitution,
99
LaunchConfiguration,
1010
NotSubstitution,
1111
PathJoinSubstitution,
1212
)
13-
14-
from lbr_bringup import LBRMoveGroupMixin
15-
from lbr_description import LBRDescriptionMixin, RVizMixin
16-
from lbr_ros2_control import LBRROS2ControlMixin
13+
from launch_mixins.lbr_bringup import LBRMoveGroupMixin
14+
from launch_mixins.lbr_description import LBRDescriptionMixin, RVizMixin
15+
from launch_mixins.lbr_ros2_control import LBRROS2ControlMixin
1716

1817

1918
def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
2019
ld = LaunchDescription()
2120

2221
robot_description = LBRDescriptionMixin.param_robot_description(sim=False)
23-
ros2_control_node = LBRROS2ControlMixin.node_ros2_control(
24-
robot_description=robot_description
22+
world_robot_tf = [0, 0, 0, 0, 0, 0] # keep zero
23+
24+
# robot state publisher
25+
robot_state_publisher = LBRROS2ControlMixin.node_robot_state_publisher(
26+
robot_description=robot_description, use_sim_time=False
2527
)
28+
ld.add_action(robot_state_publisher)
29+
30+
# ros2 control node
31+
ros2_control_node = LBRROS2ControlMixin.node_ros2_control()
2632
ld.add_action(ros2_control_node)
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2834
# joint state broad caster and controller on ros2 control node start
@@ -52,17 +58,6 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
5258
)
5359
ld.add_action(controller_event_handler)
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55-
# robot state publisher on joint state broadcaster spawn exit
56-
robot_state_publisher = LBRROS2ControlMixin.node_robot_state_publisher(
57-
robot_description=robot_description, use_sim_time=False
58-
)
59-
robot_state_publisher_event_handler = RegisterEventHandler(
60-
OnProcessExit(
61-
target_action=joint_state_broadcaster, on_exit=[robot_state_publisher]
62-
)
63-
)
64-
ld.add_action(robot_state_publisher_event_handler)
65-
6661
# MoveIt 2
6762
ld.add_action(LBRMoveGroupMixin.arg_allow_trajectory_execution())
6863
ld.add_action(LBRMoveGroupMixin.arg_capabilities())
@@ -77,7 +72,7 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
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robot_name = LaunchConfiguration("robot_name").perform(context)
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ld.add_action(
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LBRDescriptionMixin.node_static_tf(
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tf=[0, 0, 0, 0, 0, 0], # keep zero
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tf=world_robot_tf,
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parent="world",
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child=PathJoinSubstitution(
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[
@@ -144,7 +139,7 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
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# RViz event handler
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rviz_event_handler = RegisterEventHandler(
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OnProcessStart(
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target_action=robot_state_publisher, on_start=[rviz_moveit, rviz]
142+
target_action=joint_state_broadcaster, on_start=[rviz_moveit, rviz]
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)
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)
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ld.add_action(rviz_event_handler)

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