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Twist clipping fix #317

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Merged
mhubii merged 2 commits into from
Nov 30, 2025
Merged

Twist clipping fix #317

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ec57f4e
fix twist clipping (#313)
mhubii Nov 30, 2025
52aec54
bump version (2.2.1 -> 2.2.2)
mhubii Nov 30, 2025
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4 changes: 4 additions & 0 deletions CHANGELOG.rst
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@@ -1,6 +1,10 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package LBR FRI ROS 2 Stack
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Humble v2.2.2 (2025-11-30)
--------------------------
* ``lbr_fri_ros2``: Fix the twist clipping bug: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/313

Humble v2.2.1 (2025-03-26)
--------------------------
* ``lbr_bringup``: Removed static broadcasters from launch files: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/264
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4 changes: 2 additions & 2 deletions CITATION.cff
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Expand Up @@ -19,6 +19,6 @@ authors:


title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
version: 2.2.1
version: 2.2.2
doi: 10.21105/joss.06138
date-released: 2025-03-26
date-released: 2025-11-30
2 changes: 1 addition & 1 deletion lbr_bringup/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>LBR launch files.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_advanced_cpp/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>Advanced C++ demos for the lbr_ros2_control.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_advanced_py/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>Advanced Python demos for the lbr_ros2_control.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<maintainer email="mower.chris@gmail.com">cmower</maintainer>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_advanced_py/setup.py
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setup(
name=package_name,
version="2.2.1",
version="2.2.2",
packages=[package_name],
data_files=[
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_cpp/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>C++ demos for lbr_ros2_control.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_py/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>Python demos for lbr_ros2_control.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_demos_py/setup.py
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setup(
name=package_name,
version="2.2.1",
version="2.2.2",
packages=[package_name],
data_files=[
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_moveit/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>MoveIt demos for the LBRs</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_moveit/setup.py
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setup(
name=package_name,
version="2.2.1",
version="2.2.2",
packages=find_packages(exclude=["test"]),
data_files=[
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
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2 changes: 1 addition & 1 deletion lbr_demos/lbr_moveit_cpp/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>Demo for using MoveIt C++ API.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_description/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>KUKA LBR description files</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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6 changes: 3 additions & 3 deletions lbr_description/ros2_control/lbr_controllers.yaml
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Expand Up @@ -105,7 +105,7 @@
chain_tip: lbr_link_ee
damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
max_linear_velocity: 2.0 # maximum linear velocity
max_angular_velocity: 2.0 # maximum linear acceleration
max_angular_velocity: 2.0 # maximum angular velocity
joint_gains: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # joint gains
cartesian_gains: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # cartesian gains

Expand All @@ -116,9 +116,9 @@
chain_root: lbr_link_0
chain_tip: lbr_link_ee
twist_in_tip_frame: true # if true, the twist command is expressed in the tip frame, otherwise in the root frame
damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
damping: 0.02 # damping factor for the pseudo-inverse of the Jacobian
max_linear_velocity: 0.1 # maximum linear velocity
max_angular_velocity: 0.1 # maximum linear acceleration
max_angular_velocity: 0.1 # maximum angular velocity
joint_gains: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # joint gains
cartesian_gains: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # cartesian gains
timeout: 0.2 # stop controller if no command is received within this time [s]
2 changes: 1 addition & 1 deletion lbr_fri_ros2/package.xml
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<?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>2.2.1</version>
<version>2.2.2</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="m.huber_1994@hotmail.de">mhubii</maintainer>
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4 changes: 2 additions & 2 deletions lbr_fri_ros2/src/control.cpp
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Expand Up @@ -101,10 +101,10 @@ void AdmittanceImpl::log_info() const {

void InvJacCtrlImpl::compute_impl_(const_jnt_array_t_ref q, jnt_array_t_ref dq) {
// clip velocity
twist_target_.head(3).unaryExpr([&](double v) {
twist_target_.head(3) = twist_target_.head(3).unaryExpr([&](double v) {
return std::clamp(v, -parameters_.max_linear_velocity, parameters_.max_linear_velocity);
});
twist_target_.tail(3).unaryExpr([&](double v) {
twist_target_.tail(3) = twist_target_.tail(3).unaryExpr([&](double v) {
return std::clamp(v, -parameters_.max_angular_velocity, parameters_.max_angular_velocity);
});

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2 changes: 1 addition & 1 deletion lbr_fri_ros2_stack/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>ROS 2 stack for KUKA LBRs.</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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2 changes: 1 addition & 1 deletion lbr_ros2_control/package.xml
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<?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>2.2.1</version>
<version>2.2.2</version>
<description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
<license>Apache-2.0</license>
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