Flexiv ROS 2 Humble 1.6

COMPATABILITY

• Flexiv software package v3.8
• Flexiv RDK v1.6
• ROS 2 Humble

ADD

(None)

CHANGE

• Update RDK submodule to v1.6 [Flexiv RDK 1.6]
• Add gripper_name parameter to flexiv_bringup launch files. The default gripper is Flexiv Grav (Flexiv-GN01).
• Update gripper_action_server to use the updated RDK Gripper::params() and rdk::GripperParams struct.
• Remove tcp_pose_des in RobotStates.msg and remove the corresponding publisher in flexiv_robot_states_broadcaster
• Update fastrtps dependency to version 2.6.7 in flexiv_hardware package.
• Update README.

FIX

• Update realtime_tools deprecated headers to use .hpp