Release/Flexiv ROS 2 Humble 2.1

[munseng-flexiv]

COMPATIBILITY

• Flexiv software package v4.1 (for Flexiv Enlight series only).
• Flexiv RDK v2.1
• ROS 2 Humble

ADD

• Multi-model support for dual-arm and MICO models: Enlight-LL, MICO-Core, MICO-Plus, and MICO-Ultra, alongside the existing single-arm Enlight-L, all driven by a single unified FlexivHardwareInterface.
• Topology-specific controller configs: flexiv_dual_controllers.yaml (14-joint dual arm) and flexiv_mico_controllers.yaml (16-joint dual arm + pan-tilt torso), with per-arm flexiv_robot_states_broadcaster.
• Dual-arm gripper support in flexiv_gripper: one gripper node per arm group (ARM_1/ARM_2), with gripper_name_left/gripper_name_right launch arguments and serialized readiness gating.
• MoveIt planning groups for dual-arm (left_arm, right_arm, both_arms) and the MICO pan-tilt <robot_sn>_torso, plus moveit_controllers_dual.yaml / moveit_controllers_mico.yaml and the required inter-link disable_collisions.
• Add joint_group parameter on the robot_states_publisher test node to publish a chosen RDK joint group (ALL/ARM_1/ARM_2).

CHANGE

• Updated the flexiv_rdk dependency to v2.1
• Changed hardware interface joint control mode to real-time RT_JOINT_POSITION + StreamJointPosition (replacing NRT SendJointPosition)
• Switched the supported ROS 2 middleware back to the default Fast DDS (rmw_fastrtps_cpp).
• Refactored flexiv.launch.py and flexiv_moveit.launch.py to an OpaqueFunction structure that selects controllers, SRDF groups, and broadcasters by robot topology.
• Bumped flexiv_hardware, flexiv_gripper, and flexiv_robot_states_broadcaster to C++20.
• Updated flexiv_msgs/RobotStates to match the RDK v2.1 struct (removed tau_des)
• Updated robot-state/GPIO documentation (GPIO corrected to 20 ports: 16 control-box + 2 per wrist connector).
• Updated the robot_states_publisher test node for the v2.1 states() dict API and dropped the obsolete network_interface option removed from the RDK Robot constructor.

FIX

• Fixed the hardware interface of the single-arm robot to use the commandable ARM_1 group (dual-arm uses ARM_1/ARM_2).
• Added the missing gripper and torso↔arm-base disable_collisions in the SRDF to fix the self-collision errors.
• Aligned flexiv_moveit.launch.py with flexiv.launch.py so dual-arm grippers, MICO topology, and the flexiv_arm_controller start correctly under MoveIt.

[munseng-flexiv]

TODO:

• Update flexiv.humble.repos after Release/flexiv_description Humble v2.1 flexiv_description#26 and Release/v2.1 flexiv_rdk#194
• Update .github/workflows/humble-binary-build.yml

[Copilot]

Pull request overview

Release update for Flexiv ROS 2 Humble “2.1”, aligning the stack with Flexiv RDK v2.1 and extending bringup/MoveIt support to multiple robot topologies (single-arm, dual-arm, and MICO variants) under a unified hardware interface.

Changes:

• Added topology-aware launch/config selection (dual-arm + MICO), including per-arm robot-states broadcasters and dual gripper nodes.
• Updated messaging/config to match RDK v2.1 (e.g., RobotStates struct change) and switched joint streaming to RT modes.
• Expanded MoveIt SRDF/configs for dual-arm planning groups and MICO torso group, plus added topology-specific controller YAMLs.

Reviewed changes

Copilot reviewed 30 out of 30 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
README.md	Updates install/runtime guidance, robot types, examples, and GPIO port count.
flexiv.humble.repos	Bumps flexiv_rdk reference to v2.1.
flexiv_test_nodes/README.md	Updates test-node parameters (adds joint_group, removes network_interface).
flexiv_test_nodes/launch/robot_states_publisher.launch.py	Updates launch args/params for v2.1 test node.
flexiv_test_nodes/flexiv_test_nodes/robot_states_publisher.py	Adapts to RDK v2.1 states() dict API and removes obsolete network interface handling.
flexiv_test_nodes/flexiv_test_nodes/robot_states_monitor.py	Updates default SN format and documents dash→underscore topic sanitization.
flexiv_msgs/msg/RobotStates.msg	Removes tau_des field to match RDK v2.1.
flexiv_msgs/CMakeLists.txt	Removes CycloneDDS-only ROSIDL generation workaround.
flexiv_moveit_config/srdf/flexiv.srdf.xacro	Adds dual-arm/MICO SRDF structure, planning groups, and disable-collisions.
flexiv_moveit_config/config/ompl_planning.yaml	Adds planner configs for dual-arm and torso groups.
flexiv_moveit_config/config/moveit_controllers.yaml	Clarifies single-arm-only controller file usage.
flexiv_moveit_config/config/moveit_controllers_dual.yaml	Adds dual-arm MoveIt controller mapping (arm + gripper).
flexiv_moveit_config/config/moveit_controllers_mico.yaml	Adds MICO MoveIt controller mapping (arms+torso + gripper).
flexiv_moveit_config/config/kinematics.yaml	Adds kinematics entries for left/right arm groups.
flexiv_moveit_config/config/joint_limits.yaml	Adds left/right joint limits for dual-arm joint naming.
flexiv_hardware/src/flexiv_hardware_interface.cpp	Adds joint-group layout handling (incl. EXT_AXIS), switches to RT modes and streaming APIs, updates activation and state-handle refresh.
flexiv_hardware/include/flexiv_hardware/flexiv_hardware_interface.hpp	Updates command buffer types to RT command structs.
flexiv_hardware/CMakeLists.txt	Bumps to C++20 for RDK compatibility.
flexiv_gripper/src/gripper_action_server.cpp	Adds per-joint-group gripper control for dual-arm; updates RDK API usage.
flexiv_gripper/launch/flexiv_gripper.launch.py	Adds joint_group launch arg and passes through to node.
flexiv_gripper/include/flexiv_gripper/gripper_action_server.hpp	Stores selected joint group and updates stop behavior.
flexiv_gripper/CMakeLists.txt	Bumps to C++20.
flexiv_controllers/flexiv_robot_states_broadcaster/include/flexiv_robot_states_broadcaster/flexiv_robot_states.hpp	Removes tau_des mapping.
flexiv_controllers/flexiv_robot_states_broadcaster/CMakeLists.txt	Bumps to C++20.
flexiv_bringup/launch/test_joint_trajectory_controller.launch.py	Updates serial-number example formatting.
flexiv_bringup/launch/flexiv.launch.py	Refactors bringup to OpaqueFunction and adds topology-aware controller/gripper/broadcaster orchestration.
flexiv_bringup/launch/flexiv_moveit.launch.py	Mirrors bringup refactor for MoveIt (topology-aware configs + sequencing).
flexiv_bringup/config/flexiv_dual_controllers.yaml	Adds ros2_control controller config for dual-arm topology.
flexiv_bringup/config/flexiv_mico_controllers.yaml	Adds ros2_control controller config for MICO torso topology.
.github/workflows/humble-binary-build.yml	Removes CycloneDDS pinning and installs, aligning CI with default middleware.

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