[munseng-flexiv]

COMPATIBILITY

• Flexiv software package v3.11.3
• Flexiv RDK v1.9.4.1
• Flexiv DRDK v1.2.4 (for dual-robot setup)
• flexiv_description lyrical-v3.1
• ROS 2 Lyrical (Ubuntu 26.04)

ADD

• Add ROS 2 Lyrical support, ported from Jazzy v1.9.3, and the Lyrical Binary Build CI workflow
• Add support for the new AICO2 platform types: AICO2-4-D3, AICO2-4E-D1, AICO2-4U-D1, AICO2-10-D2, AICO2-10E-D1 and AICO2-10U-D1 (Feature/Support the new AICO2 external axis types (forward-port #128) #131, forward-port of Feature/Support the new AICO2 external axis types #128)
• Add Cartesian motion-force control interface: cartesian_motion_force_controller, runtime force control configuration services and the flexiv_msgs/msg/CartesianMotionForce message (Forwardport/Jazzy v1.9.4 features to Lyrical #138, forward-port of Feature/Add Cartesian Motion Force control interface #132)
• Add option to start RDK in real-time (RT) control modes with the rdk_realtime_mode and withhold_on_timeliness_failure launch arguments (Forwardport/Jazzy v1.9.4 features to Lyrical #138, forward-port of Feature/Add option to start RDK in realtime (RT) control modes #134)
• Add per-joint acceleration limits for the non-real-time joint position interface, read from the URDF 1.2 acceleration and deceleration joint limits (Feature/Use URDF 1.2 acceleration limits in the hardware interface and MoveIt (Lyrical) #140)

CHANGE

• Update Flexiv RDK dependency to v1.9.4.1 [Flexiv RDK 1.9.4.1]
• Update Flexiv DRDK dependency to v1.2.4 [Flexiv DRDK 1.2.4]
• Update flexiv_description dependency to lyrical-v3.1 [flexiv_description lyrical-v3.1]
• Remove the fastcdr and spdlog package dependencies, which the RDK now bundles internally; installed targets carry the RDK library path in their RUNPATH, so no LD_LIBRARY_PATH setup is needed
• Build all packages with C++20 and CMake 3.16, the ROS 2 Lyrical baseline.
• Migrate the hardware interfaces to the Lyrical ros2_control export API, with interface handles resolved once at configure time so read() and write() do no name lookup
• Register FlexivDualHardwareInterface in its own plugin description, built only when Flexiv DRDK is found
• Move the controller parameters into the controller config files, and have the controller spawners wait up to 60 s for the controller manager
• Update flexiv_robot_states_broadcaster and gpio_controller to the Lyrical realtime_tools publisher API
• Remove the max_joint_acceleration hardware parameter; the joint acceleration limits now come from the URDF, and the MoveIt joint_limits.yaml uses the same per-joint values (Feature/Use URDF 1.2 acceleration limits in the hardware interface and MoveIt (Lyrical) #140)
• Consolidate the MoveIt configs, share the AICO2 controller and MoveIt configs across all AICO2 types, and unify the joint name prefix placeholder (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Gripper move and grasp actions now finish when the fingers stop moving instead of when the command is sent (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Point to the Humble and Jazzy branches in the README

FIX

• Fix Grav SRDF for the renamed and removed TCP frames in flexiv_description (Bugfix/Update Grav SRDF for the renamed and removed TCP frames #139)
• Fix MoveIt Servo launch and config (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Fix dual-arm torque and velocity control (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Fix gpio_controller reactivation (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Fix gripper action completion, force limits and tool selection (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Fix AICO1-4-V2 actuated joints and SRDF collision pairs (Forwardport/Jazzy v1.9.4 features to Lyrical #138)
• Fix TCP frame IDs of the TCP wrenches published by flexiv_robot_states_broadcaster (Forwardport/Jazzy v1.9.4 features to Lyrical #138)