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CHANGELOG.md

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Changelog

0.1.15 - 2024-06-21

Requires libfranka >= 0.13.2 and franka_description >= 0.3.0 requires ROS 2 Humble

  • franka_gazebo_bringup: Released and supports joint position, velocity and effort commands
  • franka_ign_ros2_control: ROS 2 hardware interface for gazebo controller. Modified to add gravity torques for Franka robots.

0.1.14 - 2024-05-13

Requires libfranka >= 0.13.2, and franka_description >= 0.2.0 requires ROS 2 Humble

  • devcontainer: install pinocchio dependency from ros-humble-pinocchio apt package
  • feature: Added error recovery action to ROS 2 node
  • removed: hard-coded panda robot references
  • removed: franka_description package
  • using the franka_description standalone package https://github.com/frankaemika/franka_description
  • franka_hardware prefixes the robot_state and robot model state interfaces with the read robot name from the urdf.

0.1.13 - 2024-01-18

Requires libfranka >= 0.13.2, requires ROS 2 Humble

  • update libfranka dependency in devcontainer to 0.13.3(requires system image 5.5.0)
  • fix devcontainer typo

0.1.12 - 2024-01-12

Requires libfranka >= 0.13.2, requires ROS 2 Humble

  • franka_semantic_component: Read robot state from urdf robot description.
  • franka_state_broadcaster: Publish visualizable topics seperately.

0.1.11 - 2023-12-20

Requires libfranka >= 0.13.2, requires ROS 2 Humble

  • franka_example_controllers: Add a joint impedance example using OrocosKDL(LMA-ik) through MoveIt service.
  • franka_hardware: Register initial joint positions and cartesian pose state interface without having running command interfaces.

0.1.10 - 2023-12-04

Requires libfranka >= 0.13.0, required ROS 2 Humble

  • Adapted the franka robot state broadcaster to use ROS 2 message types
  • Adapted the Cartesian velocity command interface to use Eigen types

0.1.9 - 2023-12-04

Requires libfranka >= 0.13.0, required ROS 2 Humble

  • franka_hardware: add state interfaces for initial position, cartesian pose and elbow.
  • franka_hardware: support cartesian pose interface.
  • franka_semantic_component: support cartesian pose interface.
  • franka_example_controllers: add cartesian pose example controller
  • franka_example_controllers: add cartesian elbow controller
  • franka_example_controllers: add cartesian orientation controller

0.1.8 - 2023-11-16

Requires libfranka >= 0.13.0, required ROS 2 Humble

  • franka_hardware: add unit tests for robot class.
  • joint_trajectory_controller: hotfix add joint patched old JTC back.

0.1.7 - 2023-11-10

Requires libfranka >= 0.12.1, required ROS 2 Humble

  • franka_hardware: joint position command interface supported
  • franka_hardware: controller initializer automatically acknowledges error, if arm is in reflex mode
  • franka_example_controllers: joint position example controller provided
  • franka_example_controllers: fix second start bug with the example controllers

0.1.6 - 2023-11-03

Requires libfranka >= 0.12.1, required ROS 2 Humble

  • franka_hardware: support for cartesian velocity command interface
  • franka_semantic_component: implemented cartesian velocity interface
  • franka_example_controllers: implement cartesian velocity example controller
  • franka_example_controllers: implement elbow example controller

0.1.5 - 2023-10-13

Requires libfranka >= 0.12.1, required ROS 2 Humble

  • franka_hardware: support joint velocity command interface
  • franka_example_controllers: implement joint velocity example controller
  • franka_description: add velocity command interface to the control tag

0.1.4 - 2023-09-26

Requires libfranka >= 0.12.1, required ROS 2 Humble

  • franka_hardware: adapt to libfranka active control v0.12.1

0.1.3 - 2023-08-24

Requires libfranka >= 0.11.0, required ROS 2 Humble

  • franka_hardware: hotfix start controller when user claims the command interface

0.1.2 - 2023-08-21

Requires libfranka >= 0.11.0, required ROS 2 Humble

  • franka_hardware: implement non-realtime parameter services

0.1.1 - 2023-08-21

Requires libfranka >= 0.11.0, required ROS 2 Humble

  • franka_hardware: uses updated libfranka version providing the possibility to have the control loop on the ROS side

0.1.0 - 2023-07-28

Requires libfranka >= 0.10.0, required ROS 2 Humble

  • franka_bringup: franka_robot_state broadcaster added to franka.launch.py.
  • franka_example_controllers: model printing read only controller implemented
  • franka_robot_model: semantic component to access robot model parameters.
  • franka_msgs: franka robot state msg added
  • franka_robot_state: broadcaster publishes robot state.

Added

  • CI tests in Jenkins.
  • joint_effort_trajectory_controller package that contains a version of the joint_trajectory_controller that can use the torque interface. See this PR
  • franka_bringup package that contains various launch files to start controller examples or Moveit2.
  • franka_moveit_config package that contains a minimal moveit config to control the robot.
  • franka_example_controllers package that contains some example controllers to use.
  • franka_hardware package that contains a plugin to access the robot.
  • franka_msgs package that contains common message, service and action type definitions.
  • franka_description package that contains all meshes and xacro files.
  • franka_gripper package that offers action and service interfaces to use the Franka Hand gripper.

Fixed

  • franka_hardware Fix the mismatched joint state interface type logger error message.