- 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.
- Implemented action servers for MoveToPose and MoveToJoints.
- Added service for MoveToNamedPose and stop action.
- Updated README with usage examples for new actions.
- Enhanced planning configurations in YAML and Python files.
- Removed deprecated motion planning scripts.
- Implement move_to_pose_server for motion planning using MoveIt
- Create iiwa_msgs package with MoveToPose service definition
- Update iiwa.launch.py to include move_to_pose_server node
- Modify joint_limits.yaml to add position limits for joints
- Remove iiwa_voice package and related files
- 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 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.
Даниил Грабарь