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Several upgrades to the provided controllers are required: - [ ] Command target force in cartesian impedance control mode #250 - [ ] Document load data calibration #235 - [ ] Target poses #245 - [ ] Target twist #178 - [ ] Pose broadcaster #178
Overdue by 2 month(s)•Due by April 30, 2025•0/1 issues closedSeveral issues revolve around documentation and could be mitigated. How to integrate with my own robot: - MoveIt https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/134 - Example for including `lbr_description` in custom `xacro` How to utilize MoveIt: - MoveIt API: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/140 - MoveIt API with new setup: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/133 - MoveIt Servo: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/50 Connection issues and multi-robot setups: - Multi-robot: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/131 - Connect default: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/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)
Overdue by 1 year(s)•Due by February 29, 2024•1/7 issues closed