v0.1.15

Full Changelog: v0.1.13...v0.1.15

• Added Gazebo support for joint level command control and state readings.
• Added Gazebo example launch file working with the same example controllers designed for the real robot.
• Removed the references to the panda robot. Depending on the new franka_description package.
• Added automatic error recovery service.

Add Joint Impedance Example with IK

• Joint impedance example using custom IK. Use LMA-ik from Orocos to calculate desired joint positions from Cartesian Pose trajectory.

Cartesian Pose Command Interface Support

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

Add robot tests. Bring patched-JTC back

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.

ROS 2 Joint Position Command Support

0.1.7 - 2023-11-10

Requires libfranka >= 0.12.1, required ROS 2 Humble

• franka_hardware: joint position command inteface 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

ROS 2 Cartesian Velocity Command Interface Support

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

Set non-realtime robot parameters

Requires libfranka >= 0.11.0, required ROS 2 Humble

BREAKING only works with libfranka fr3-develop branch 0.11.0
franka_hardware: implement non-realtime parameter services
franka_hardware: uses updated libfranka version providing the possibility to have the control loop on the ROS side

ROS 2 Humble support

• ROS 2 Humble support
• franka_bringup: franka_robot_state broadcaster added to franka.launch.py.
• franka_example_controllers: model printing read onyl 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.
• more unit-tests and integration test