Merge pull request #119 from ROBOTIS-GIT/feature-hx-ros2-control

Feature hx ros2 control

Author: nhw-robotis

docker/docker-compose.yml

@@ -1,7 +1,7 @@
 services:
   ai_worker:
     container_name: ai_worker
-    image: robotis/ai-worker:2.2.2
+    image: robotis/ai-worker:2.2.3
     tty: true
     restart: always
     cap_add:

ffw/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ffw
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2026-08-12)
+------------------
+* Fixed SH5 ros2_control xacro file
+* Contributors: Hyunwoo Nam
+
 2.2.2 (2026-08-10)
 ------------------
 * Updated head and wrist camera TF frame names

ffw/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>ffw</name>
-  <version>2.2.2</version>
+  <version>2.2.3</version>
   <description>
     ROS 2 meta package for FFW
   </description>

ffw_bringup/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package ffw_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2026-08-12)
+------------------
+* None
+
 2.2.2 (2026-08-10)
 ------------------
 * Updated the head camera target frame name

ffw_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>ffw_bringup</name>
-  <version>2.2.2</version>
+  <version>2.2.3</version>
   <description>
     ROS 2 launch scripts for starting the FFW
   </description>

ffw_bringup/setup.py

@@ -14,7 +14,7 @@
 
 setup(
     name=package_name,
-    version='2.2.2',
+    version='2.2.3',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',

ffw_description/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ffw_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2026-08-12)
+------------------
+* Fixed SH5 ros2_control xacro file
+* Contributors: Hyunwoo Nam
+
 2.2.2 (2026-08-10)
 ------------------
 * Updated head and wrist camera TF frame names

ffw_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>ffw_description</name>
-  <version>2.2.2</version>
+  <version>2.2.3</version>
   <description>
     3D models of the FFW for simulation and visualization
   </description>

ffw_description/ros2_control/ffw_sh5_rev1_follower/ffw_sh5_follower.ros2_control.xacro

@@ -35,9 +35,9 @@
         </hardware>
       </xacro:unless>
 
-      <xacro:ffw_sh5_follower_joints/>
       <xacro:hx5_right_joints/>
       <xacro:hx5_left_joints/>
+      <xacro:ffw_sh5_follower_joints/>
 
     </ros2_control>
   </xacro:macro>

ffw_joint_trajectory_command_broadcaster/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package ffw_joint_trajectory_command_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.3 (2026-08-12)
+------------------
+* None
+
 2.2.2 (2026-08-10)
 ------------------
 * None