Merge pull request #155 from lbr-stack/WIP-humble-planning-scene-namespace

mhubii · web-flow · commit f5d103b133ea · 2024-02-03T20:55:39.000Z
Planning scene namespace
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,11 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v1.4.3 (2024-02-03)
+--------------------------
+* Fixes planning scene namespace https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/153
+* Refers to https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/155
+
 Humble v1.4.2 (2023-12-29)
 --------------------------
 * Fixes cartesian path for move group node with namespace: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/133
diff --git a/CITATION.cff b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 1.4.2
+version: 1.4.3
 doi: 10.48550/arXiv.2311.12709
-date-released: 2023-12-29
+date-released: 2024-02-03
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
@@ -65,6 +65,8 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
             ("display_planned_path", robot_name + "/display_planned_path"),
             ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("planning_scene", robot_name + "/planning_scene"),
+            ("planning_scene_world", robot_name + "/planning_scene_world"),
             ("robot_description", robot_name + "/robot_description"),
             ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
@@ -122,6 +122,8 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
             ("display_planned_path", robot_name + "/display_planned_path"),
             ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("planning_scene", robot_name + "/planning_scene"),
+            ("planning_scene_world", robot_name + "/planning_scene_world"),
             ("robot_description", robot_name + "/robot_description"),
             ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
diff --git a/lbr_bringup/launch/sim.launch.py b/lbr_bringup/launch/sim.launch.py
@@ -99,6 +99,8 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
             ("display_planned_path", robot_name + "/display_planned_path"),
             ("joint_states", robot_name + "/joint_states"),
             ("monitored_planning_scene", robot_name + "/monitored_planning_scene"),
+            ("planning_scene", robot_name + "/planning_scene"),
+            ("planning_scene_world", robot_name + "/planning_scene_world"),
             ("robot_description", robot_name + "/robot_description"),
             ("robot_description_semantic", robot_name + "/robot_description_semantic"),
         ],
diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
@@ -2,7 +2,7 @@
 <?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>1.4.2</version>
+  <version>1.4.3</version>
   <description>LBR launch files.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_cpp</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>Advanced C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_advanced_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_advanced_python</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>Advanced Python demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_advanced_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.2",
+    version="1.4.3",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml b/lbr_demos/lbr_demos_fri_ros2_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_cpp</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>C++ demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_python/package.xml b/lbr_demos/lbr_demos_fri_ros2_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_fri_ros2_python</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>Python demos for the lbr_fri_ros2.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_fri_ros2_python/setup.py b/lbr_demos/lbr_demos_fri_ros2_python/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="1.4.2",
+    version="1.4.3",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/package.xml b/lbr_demos/lbr_demos_ros2_control_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_cpp</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>C++ demos for the LBR ros2_control integration.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_ros2_control_python/package.xml b/lbr_demos/lbr_demos_ros2_control_python/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_ros2_control_python</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>Python demos for the LBR ros2_control integration.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_demos/lbr_demos_ros2_control_python/setup.py b/lbr_demos/lbr_demos_ros2_control_python/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="1.4.2",
+    version="1.4.3",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_description/package.xml b/lbr_description/package.xml
@@ -2,7 +2,7 @@
 <?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>1.4.2</version>
+  <version>1.4.3</version>
   <description>KUKA LBR description files</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_fri_msgs/package.xml b/lbr_fri_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_fri_msgs</name>
-  <version>1.4.2</version>
+  <version>1.4.3</version>
   <description>ROS 2 message for the Fast Robot Interface (FRI) specific states.</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
@@ -2,7 +2,7 @@
 <?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>1.4.2</version>
+  <version>1.4.3</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="martin.huber@kcl.ac.uk">mhubii</maintainer>
diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/package.xml
@@ -2,7 +2,7 @@
 <?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>1.4.2</version>
+  <version>1.4.3</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>MIT</license>
diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/package.xml
@@ -2,7 +2,7 @@
 <?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>1.4.2</version>
+  <version>1.4.3</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="martin.huber@kcl.ac.uk">mhubii</maintainer>
   <license>MIT</license>
