franka_ros2 changelog

v1.0.0 (2025-01-22)

Requires libfranka >= 0.15.0 and franka_description >= 0.3.0 requires ROS 2 Humble

  • feat: franka_example_controllers - Add a Franka Hand controller example (gripper_example_controller)

  • fix: reduced acceleration discontinuities by adding new robot_time state to franka_hardware that allows to update controllers with same time that robot uses

  • refactor: Improved Docker image for development with VSCode

  • BREAKING_CHANGE: initial_joint_position state removed from franka_hardware. rename/replace functions in franka_semantic_components as follows: ::

      -  initial_cartesian_pose, initial_elbow_state
  +  cartesian_pose_state,   elbow_state.
  - getInitialElbowConfiguration, getInitialOrientationAndTranslation, getInitialPoseMatrix
  + getCurrentElbowConfiguration, getCurrentOrientationAndTranslation, getCurrentPoseMatrix

0.1.15 (2024-06-21)

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

  • feat: franka_gazebo_bringup: Released and supports joint position, velocity and effort commands

  • feat: franka_ign_ros2_control: ROS 2 hardware interface for gazebo controller. Modified to add gravity torques for Franka robots.

  • fix: the joint-impedance-with-IK example to work without a gripper

0.1.14 (2024-05-13)

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

  • BREAKING CHANGE: franka_description package

  • BREAKING CHANGE: using the franka_description standalone package https://github.com/frankaemika/franka_description

  • build: install pinocchio dependency from ros-humble-pinocchio apt package

  • feat: Added error recovery action to ROS 2 node

  • fix: hard-coded panda robot references

  • fix: 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

  • BREAKING CHANGE: 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

  • feat: franka_semantic_component: Read robot state from urdf robot description.

  • feat: franka_state_broadcaster: Publish visualizable topics seperately.

0.1.11 (2023-12-20)

Requires libfranka >= 0.13.2, requires ROS 2 Humble

  • feat: franka_example_controllers: Add a joint impedance example using OrocosKDL(LMA-ik) through MoveIt service.

  • feat: 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

  • feat: Adapted the franka robot state broadcaster to use ROS 2 message types

  • feat: 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

  • feat: franka_hardware: add state interfaces for initial position, cartesian pose and elbow.

  • feat: franka_hardware: support cartesian pose interface.

  • feat: franka_semantic_component: support cartesian pose interface.

  • feat: franka_example_controllers: add cartesian pose example controller

  • feat: franka_example_controllers: add cartesian elbow controller

  • feat: franka_example_controllers: add cartesian orientation controller

0.1.8 (2023-11-16)

Requires libfranka >= 0.13.0, required ROS 2 Humble

  • test: franka_hardware: add unit tests for robot class.

  • fix: 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

  • feat: franka_hardware: joint position command interface supported

  • feat: franka_hardware: controller initializer automatically acknowledges error, if arm is in reflex mode

  • feat: franka_example_controllers: joint position example controller provided

  • fix: 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

  • feat: franka_hardware: support for cartesian velocity command interface

  • feat: franka_semantic_component: implemented cartesian velocity interface

  • feat: franka_example_controllers: implement cartesian velocity example controller

  • feat: franka_example_controllers: implement elbow example controller

0.1.5 (2023-10-13)

Requires libfranka >= 0.12.1, required ROS 2 Humble

  • feat: franka_hardware: support joint velocity command interface

  • feat: franka_example_controllers: implement joint velocity example controller

  • feat: 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

  • feat: franka_hardware: adapt to libfranka active control 0.12.1

0.1.3 (2023-08-24)

Requires libfranka >= 0.11.0, required ROS 2 Humble

  • fix: 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

  • feat: franka_hardware: implement non-realtime parameter services

0.1.1 (2023-08-21)

Requires libfranka >= 0.11.0, required ROS 2 Humble

  • feat: 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

  • feat: franka_bringup: franka_robot_state broadcaster added to franka.launch.py.

  • feat: franka_example_controllers: model printing read only controller implemented

  • feat: franka_robot_model: semantic component to access robot model parameters.

  • feat: franka_msgs: franka robot state msg added

  • feat: franka_robot_state: broadcaster publishes robot state.

  • feat: joint_effort_trajectory_controller package that contains a version of the
    joint_trajectory_controller that can use the torque interface.
    See this PR

  • feat: franka_bringup package that contains various launch files to start controller examples or Moveit2.

  • feat: franka_moveit_config package that contains a minimal moveit config to control the robot.

  • feat: franka_example_controllers package that contains some example controllers to use.

  • feat: franka_hardware package that contains a plugin to access the robot.

  • feat: franka_msgs package that contains common message, service and action type definitions.

  • feat: franka_description package that contains all meshes and xacro files.

  • feat: franka_gripper package that offers action and service interfaces to use the Franka Hand gripper.

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

  • test: CI tests in Jenkins.