Flexiv ROS 2 Foxy 0.8

COMPATABILITY

• Flexiv robot software v2.10.5 and v2.10.6
• Flexiv RDK v0.8
• ROS 2 Foxy

ADD

• Add Foxy binary build for the Foxy branch.
• flexiv_bringup:
  • Update rizon_controllers.yaml config file with robot states broadcasters.
  • Add force_torque_sensor_broadcaster, external_wrench_in_base_broadcaster, external_wrench_in_tcp_broadcaster and tcp_pose_state_broadcaster to start in the robot main launcher (rizon.launch.py).
• flexiv_hardware: Expose robot feedback states e.g. force torque sensor state, external TCP wrench in base and TCP frames, and TCP pose as sensor interfaces in the hardware interface.
• flexiv_controllers: Add TcpPoseStateBroadcaster and ExternalTcpWrenchBroadcaster.
• flexiv_description: Update ROS 2 control xacro file with sensors state interfaces.

CHANGE

• flexiv_hardware:
  • Update enums naming of flexiv::Mode.
  • Remove manual waiting check for the mode to be switched using Robot::getMode().
• flexiv_msgs:
  • Update Mode message.
  • Remove CartesianState, CartesianVelocity and ExternalForce messages and replace them with geometry_msgs messages in RobotStates message.
• Update README.

FIX

• Fix joint torque interface bug (#5).
• Fix joint states order in flexiv_test_nodes (#9).
• Set RDK static library to the correct path (#16).
• Fix Rizon 10 ROS 2 xacro file (#18).