Several issues revolve around documentation and could be mitigated.

How to integrate with my own robot:

• MoveIt lbr-stack/lbr_fri_ros2_stack#134
• Example for including lbr_description in custom xacro

How to utilize MoveIt:

• MoveIt API: lbr-stack/lbr_fri_ros2_stack#140
• MoveIt API with new setup: lbr-stack/lbr_fri_ros2_stack#133
• MoveIt Servo: lbr-stack/lbr_fri_ros2_stack#50

Connection issues and multi-robot setups:

• Multi-robot: lbr-stack/lbr_fri_ros2_stack#131
• Connect default: lbr-stack/lbr_fri_ros2_stack#120

The documentation https://github.com/lbr-stack/lbr_stack_doc also needs a general overhaul, as latest documentation is 1.2.5, whereas this repo is now 1.4.0: https://lbr-fri-ros2-stack-doc.readthedocs.io/en/latest/. https://github.com/lbr-stack/lbr_stack_doc needs an update to facilitate Python / ROS 2 support.

Tasks:

• Update lbr_demos with
  • MoveIt API demo
  • Depract app_component -> use lbr_bringup for demos with major ros2_control focus
• Add to lbr_demos
  • ros2_control admittance control / chained control
  • Integrate with my own robot demo, e.g. base etc.
  • Multi-robot setup demo
• Update lbr_fri_ros2_stack doc: https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_fri_ros2_stack (architectural changes)