Humble-v1.4.0

• The general goal of this release is a tighter ros2_control integration. The lbr_bringup
  will serve as single entry point in the future. For now, app_component and app.launch.py are kept

force_torque_indicator.mp4

• Changes to lbr_fri_ros2:

  • Removes logging / parameter interfaces from lbr_fri_ros2 (so lbr_ros2_control serves as single interaction point)
  • Updates legacy app_component in lbr_fri_ros2 for changes. To be depracted in the future
  • Adds force-torque estimator to lbr_fri_ros2

• Changes to lbr_ros2_control:

  • Removes now redundant node from lbr_ros2_control

  • Adds forward position and forward torque controllers to lbr_ros2_control

  • Removes estimated force-torque broadcaster from lbr_ros2_control in favor of ros2_control default implementation

    • Force-torque now available under /lbr/force_torque_broadcaster/wrench
    • Namespace issues since lbr_controllers.yaml includes namespace in frame_id parameter

  • Adds lbr_fri_ros2 force-torque estimator to lbr_ros2_control as sensor

  • Adds configurations to lbr_system_interface.xacro

  • Simplifies lbr_ros2_control class names

• /lbr/command/position topic now under /lbr/command/joint_position

• Adds this changelog with release notes

• Refers to #142