\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package franka_gazebo_hardware \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

UNRELEASED

• feat: added a model-based gravity-compensation system plugin (franka_gazebo_hardware/GazeboGravityCompensationSystem) for gz_ros2_control that injects pinocchio-computed gravity torque on the effort-controlled arm joints. Gravity is enabled globally in the Gazebo world, so the zero-torque example controllers behave as on the real robot instead of collapsing. Split out of the former franka_gazebo package.
• feat: express the simulated external wrench in the stiffness frame K (K_F_ext_hat_K and the _tcp force/torque state interfaces), while O_F_ext_hat_K stays in the base frame; the wrench sign follows the reaction convention (a push in +x reads a measured external force of -x).
• feat: export the 16 <i>/cartesian_pose_state state interfaces so Cartesian-pose controllers can activate in simulation.