Bump 1.1.0

.github/workflows/release.yml

@@ -0,0 +1,18 @@
+name: Release
+
+on:
+  pull_request:
+    branches: [jazzy]
+    types: [opened, synchronize, edited, reopened, ready_for_review, closed]
+
+permissions:
+  contents: read
+
+jobs:
+  release:
+    permissions:
+      contents: write
+    uses: ROBOTIS-GIT/github-workflows/.github/workflows/release.yml@main
+    with:
+      source_branch: main
+      target_branch: jazzy

README.md

@@ -62,6 +62,17 @@ or shortcut:
 vr model:=sg2
 ```
 
+Run F2:
+
+```bash
+ros2 launch robotis_vuer vr.launch.py model:=f2
+```
+
+or shortcut:
+```bash
+vr model:=f2
+```
+
 Run HX5:
 
 ```bash

docker/docker-compose.yml

@@ -1,7 +1,7 @@
 services:
   robotis_applications:
     container_name: robotis-applications
-    image: robotis/robotis-applications:1.0.1
+    image: robotis/robotis-applications:1.1.0
     tty: true
     build:
       context: .

robotis_applications/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package robotis_applications
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2026-10-22)
+------------------
+* Added F2 support for VR teleoperation
+* Contributors: Yeonguk Kim
+
 1.0.1 (2026-08-20)
 ------------------
 * Routed SG2 gripper commands to the raw joint trajectory topics

robotis_applications/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>robotis_applications</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>Meta package for Robotis Applications</description>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache License 2.0</license>

robotis_vuer/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package robotis_vuer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2026-10-22)
+------------------
+* Added F2 VR publisher with HX2-D1 gripper limits
+* Added F2 model selection and launch dependencies
+* Contributors: Yeonguk Kim
+
 1.0.1 (2026-08-20)
 ------------------
 * Routed SG2 gripper commands to the raw joint trajectory topics

robotis_vuer/launch/vr.launch.py

@@ -27,7 +27,8 @@ def generate_launch_description():
     model_arg = DeclareLaunchArgument(
         'model',
         default_value='sh5',
-        description='VR model to run: hx5, sg2, or sh5',
+        choices=['sg2', 'sh5', 'hx5', 'f2'],
+        description='VR model to run: sg2, sh5, hx5, or f2',
     )
 
     model = LaunchConfiguration('model')
@@ -41,6 +42,16 @@ def generate_launch_description():
             PythonExpression(["'true' if '", model, "' == 'sg2' else 'false'"])
         ),
     )
+    f2_node = Node(
+        package='robotis_vuer',
+        executable='vr_publisher_f2',
+        name='vr_publisher_f2',
+        output='screen',
+        emulate_tty=True,
+        condition=IfCondition(
+            PythonExpression(["'", model, "' == 'f2'"])
+        ),
+    )
     sh5_node = Node(
         package='robotis_vuer',
         executable='vr_publisher_sh5',
@@ -65,6 +76,7 @@ def generate_launch_description():
     return LaunchDescription([
         model_arg,
         sg2_node,
+        f2_node,
         sh5_node,
         hx5_node,
     ])

robotis_vuer/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>robotis_vuer</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>VR Publisher for Robotis</description>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache License 2.0</license>
@@ -14,6 +14,8 @@
   <author email="kyu@robotis.com">Yeonguk Kim</author>
 
   <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>robotis_interfaces</exec_depend>

robotis_vuer/robotis_vuer/vr_publisher_f2.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+#
+# Copyright 2026 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Yeonguk Kim
+
+import rclpy
+from robotis_vuer.vr_publisher_sg2 import VRTrajectoryPublisher
+
+
+class F2VRTrajectoryPublisher(VRTrajectoryPublisher):
+    """Use SG2 VR controls with the F2 HX2-D1 gripper range."""
+
+    def __init__(self):
+        super().__init__(gripper_max_position=1.1)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = F2VRTrajectoryPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

robotis_vuer/robotis_vuer/vr_publisher_sg2.py

@@ -54,7 +54,7 @@
 
 class VRTrajectoryPublisher(Node):
 
-    def __init__(self):
+    def __init__(self, gripper_max_position=1.3):
         super().__init__('vr_trajectory_publisher')
         self.get_logger().set_level(rclpy.logging.LoggingSeverity.INFO)
         self.declare_parameter('left_wrist_offset_x', 0.0)
@@ -73,8 +73,8 @@ def __init__(self):
         self.declare_parameter('right_trigger_offset', 0.0)
         self.declare_parameter('left_trigger_scale', 1.0)
         self.declare_parameter('right_trigger_scale', 1.0)
-        self.declare_parameter('left_gripper_max_position', 1.3)
-        self.declare_parameter('right_gripper_max_position', 1.3)
+        self.declare_parameter('left_gripper_max_position', gripper_max_position)
+        self.declare_parameter('right_gripper_max_position', gripper_max_position)
         self.declare_parameter('goal_pose_position_scale', 1.1)
         self.declare_parameter('stream_fps', 30)
         self.declare_parameter('pose_publish_hz', 30.0)

robotis_vuer/setup.py

@@ -12,7 +12,7 @@
 
 setup(
     name=package_name,
-    version='1.0.1',
+    version='1.1.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -35,6 +35,7 @@
         'console_scripts': [
             'vr_publisher_hx5 = robotis_vuer.vr_publisher_hx5:main',
             'vr_publisher_sg2 = robotis_vuer.vr_publisher_sg2:main',
+            'vr_publisher_f2 = robotis_vuer.vr_publisher_f2:main',
             'vr_publisher_sh5 = robotis_vuer.vr_publisher_sh5:main',
         ],
     },