release notes and version bump 2.1.2 -> 2.2.0

CHANGELOG.rst

@@ -1,6 +1,26 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.2.0 (2024-11-20)
+--------------------------
+This release backports new ``rolling`` features to ``humble``. Following has changed:
+
+  * Related PRs:
+
+    * https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/213 and https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/214
+
+      * Joints and links are now prefixed with ``lbr_`` (i.e. the robot name)
+      * Robot state publisher has no ``lbr/`` prefix anymore
+      * async + deactivateable FT estimation
+      * Issue with setting real-time priority fixed
+      * Modifiable source for ``lbr_system_config.yaml`` in launch files
+
+    * https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/220
+
+      * PID on joint position commands replaced by simpler exponential filter (please test robot in T1 mode as this will affect your control)
+      * Introduction of twist and admittance controllers
+      * Configurations from ``lbr_ros2_control`` now in ``lbr_description`` (for stand alone URDF use)
+
 Humble v2.1.2 (2024-10-18)
 --------------------------
 * Adds MoveIt Servo demo, related to https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/50 and https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/211

CITATION.cff

@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.1.2
+version: 2.2.0
 doi: 10.21105/joss.06138
-date-released: 2024-10-18
+date-released: 2024-11-20

lbr_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_bringup</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>LBR launch files.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_demos/lbr_demos_advanced_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_advanced_cpp</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>Advanced C++ demos for the lbr_ros2_control.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_demos/lbr_demos_advanced_py/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_advanced_py</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>Advanced Python demos for the lbr_ros2_control.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <maintainer email="[email protected]">cmower</maintainer>

lbr_demos/lbr_demos_advanced_py/setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="2.1.2",
+    version="2.2.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

lbr_demos/lbr_demos_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_cpp</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>C++ demos for lbr_ros2_control.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_demos/lbr_demos_py/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_py</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>Python demos for lbr_ros2_control.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_demos/lbr_demos_py/setup.py

@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="2.1.2",
+    version="2.2.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

lbr_demos/lbr_moveit/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_moveit</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>MoveIt demos for the LBRs</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_demos/lbr_moveit/setup.py

@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="2.1.2",
+    version="2.2.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

lbr_demos/lbr_moveit_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_moveit_cpp</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>Demo for using MoveIt C++ API.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_description/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_description</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>KUKA LBR description files</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_fri_ros2/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_fri_ros2</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS
     2. Robot states can be extracted and commanded.</description>
   <maintainer email="[email protected]">mhubii</maintainer>

lbr_fri_ros2_stack/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_fri_ros2_stack</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>

lbr_ros2_control/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_ros2_control</name>
-  <version>2.1.2</version>
+  <version>2.2.0</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="[email protected]">mhubii</maintainer>
   <license>Apache-2.0</license>