Cart Opt Control

cart_opt_ctrl can now be built as part of the whole ecosystem.
Documentation has been improved also.

rtt_lwr 2.0.2

Simply a few fixes in the simulation part and new tools have been added.

rtt_lwr 2.0.1

This release contains mainly a few fixes from v2.0 release and improved doc at https://rtt-lwr.readthedocs.io

rtt_lwr 2.0

This is a cleanup of all the external tools that were causing issues (ie rtt_gazebo, CORBA etc) and were difficult to debug.
Now simulation is meant to run on a single deployer, so we don't have to worry about intra-process communication.

The utils.ops in lwr_utils is now the base for deploying the tools. Every new production-ready controller can be added here.

We have now some nice functions as getRobotName() , that allow you to write a generic and unique ops file to launch your component. The project creator has also been updated to show you an example of controller.

The new generic packages are now :

• rtt_gazebo_embedded : meant to replace rtt_gazebo and it's complicated design.
• rtt_ros_control_embedded : provide ros_control easily to the robot. Conman can still be used as it is just a controller manager in an rtt component.

MoveIt! is now fully supported as rtt_gazebo_embedded exposes the robot hardware to standard ros_controlllers.

OCRA is still in developpement but has been tested successfully on real hardware with ocra-kdl and ocra-kdl-clients on this new rtt_lwr 2.0.

RTT LWR v1.3

Force/Torque Sensor on Gazebo

This release adds a force/torque sensor at the end effector.
Every tool, hand or whatever should be attached to ati_link.
The topic is ft_sensor/wrench (geometry_msgs::WrenchStamped).

RTT LWR v1.2

Startup bug fixes

• Faster and more reliable startup of components
• Ability to use fixed joints in gazebo (will be useful for ati sensor plugin)

A few functions and checks have been refactored in separated functions and mostly called (like the ready service from gazebo plugin) form the ops script.

RTT LWR v1.1

Gazebo synchronization

• Every component in the chain is now using the sim clock provided by gazebo
• Gazebo is now synced with the cmds : Your controller can take as much time as it wants to compute the next dt, gazebo will wait for it. If your code is fast, then it's realtime.
  Modifications can be done in rtt_lwr_gazebo/launch/lwr.world : you can specify the gazebo rate and realtime objective (right now it's configured to go as fast as possible).

RTT LWR v1.0

Unified control architecture for the Kuka LWR 4+ at ISIR

With this version you can create a controller that will connect to the real robot or gazebo without changing a line a of code.

• lwr_sim mimics the KRC : it has joint position, joint impedance and cartesian impedance controller. No interpolations (as the KRC). It connects to the rtt_lwr_gazebo Gazebo plugin via Corba.
• Your controller connects to either lwr_fri (in lwr_hardware) or lwr_sim (rtt_lwr_sim). Both have the same interface.
• lwr_launch helps you setup the launch file to easily switch between sim or hw.
• Everything runs at 1Khz smoothly.