Flexiv ROS 2 Humble 1.4

COMPATABILITY

• Flexiv software package v3.6
• Flexiv RDK v1.4
• ROS 2 Humble

ADD

• Add RDK thirdparty dependencies installation step.
• flexiv_controllers: Add flexiv_robot_states semantic components and flexiv_robot_states_broadcaster.
• flexiv_description: Add rizon10s robot support and Flexiv Rizon 10s visual and collision meshes.

CHANGE

• Update RDK submodule to v1.4. [Flexiv RDK 1.4]
• Update RDK namespace and function names.
• Replace local_ip and robot_ip input arguments with robot_sn.
• Refactor flexiv_controllers package. Remove tcp_pose_state_broadcaster and external_tcp_wrench_broadcaster controllers.
• Update Mode.msg and RobotStates.msg.
• Update Rizon URDF xacro files.
• Improve README.

FIX

• Remove camera_pose in RobotStates.msg.
• Add GPIO interfaces to Rizon10 ros2_control xacro file.