- Deleted `system_interface_type_values.hpp`, `package.xml`, `fri_client.cpp`, and `system_interface.cpp` as part of the cleanup process.
- Updated `iiwa7.urdf.xacro` to remove deprecated parameters and adjust command interface settings.
- Modified joint definitions in `joints.xacro` to include new friction and soft limit parameters.
- Enhanced `macros.xacro` to support additional joint properties for friction and safety control.
- Adjusted mass properties in `params.xacro` to reflect accurate values for the robot's components.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface.
- Created command_guard.hpp to enforce joint limits for position and torque commands.
- Developed fri_client.hpp and fri_client.cpp to manage FRI communication and state snapshots.
- Implemented system_interface.hpp and system_interface.cpp for lifecycle management and command handling.
- Added system_interface_type_values.hpp for extended state interface names.
- Defined package.xml for ROS2 integration with necessary dependencies.
- Added a new link "tcp" and a fixed joint "patron_tcp" in patron.xacro for better tool control.
- Updated ServerFriRos2.java to improve command mode handling and user configuration steps, including clearer logging and better control mode selection.
- Removed the deprecated iiwa_ros2.java file to streamline the codebase.
- Enhanced test_motion_sequence.py to allow dynamic topic recording based on user input, with improved logging for bag file management.
- Created iiwa7_gazebo.urdf to define the iiwa7 robot model with detailed links, joints, and Gazebo integration.
- Introduced patron.xacro for the tool patron, including its inertial properties, visual representation, and collision geometry.
- Created a new URDF file for the table model, including links for the table frame, wood palette, robot palette, cabinet frame, and cabinet, along with their respective visual and collision properties.
- Defined joints to connect the various components of the table model.
- Added a new SDF file for the simulation world, setting up the environment with physics properties, a ground plane, and lighting.
- Updated gripper macros in gripper_macros.xacro to simplify parameters and add Gazebo support.
- Removed unused mesh property in gripper_meshes.xacro.
- Enhanced iiwa7 digital and FRI URDF files with simulation arguments and improved controller setup.
- Added new launch files for Gazebo simulation and universal launch configuration.
- Implemented YAML parameter wrapping for ROS2 in converter.py.
- Introduced a new gz_bridge.yaml configuration for Gazebo to ROS2 topic mapping.
- Cleaned up setting_loader.py and added necessary imports.
- Created URDF model for gripper including links and joints.
- Added XACRO files for gripper components: gripper.xacro, gripper_links.xacro, gripper_joints.xacro, gripper_macros.xacro, and gripper_meshes.xacro.
- Integrated gripper into iiwa7 digital twin configuration.
- Defined properties and macros for gripper components to facilitate easier modifications and reuse.
- Created a new URDF file for the gripper, defining its structure.
- Added links: base_frame, plate, screw, craving1, craving2, craving3.
- Defined joints for the gripper's movement, including fixed and revolute joints.
- Included mesh files for visual and collision geometry.
- Set inertial properties for each link with zero mass and inertia.
- Updated iiwa7 URDF Xacro to include command and state interfaces for position and effort with defined limits for all joints.
- Modified setting_loader.py to include new fields for command_mode and description in the RobotCfg dataclass and settings loading process.
- Created iiwa.launch.py to manage the launch of the IIWA robot, integrating MoveIt configurations and RViz support.
- Added iiwa_controllers.launch.py to set up the controller manager and spawner for the IIWA robot.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface for the KUKA IIWA 7 robot.
- Added iiwa7_fri.urdf.xacro to support FRI (Fast Robot Interface) with appropriate command and state interfaces for each joint.
Все конфигурационные файлы переехали в пакет `iiwa_config`. также там появился общий конфигурационный файл, который упращает запуск `digital_twin.launch.py`
Добавлен дополнительный пакет `iiwa_utils`, в который переехал весь код с папки `iiwa_bringup/utils`, а также все тестовые ноды переехали с `iiwa_object_spawner` в этот пакет
Пакеты `iiwa_bringup` и `iiwa_description` переведены на `ament_cmake` для дальнейшего удобсва - пакеты не будут содержать код для реализации
Даниил Грабарь