ROS Index
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged franka_gazebo_hardware at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 2.5.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/frankaemika/franka_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2026-06-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Gazebo ros2_control system plugin adding model-based gravity compensation for Franka robots
Maintainers
- Franka Robotics GmbH
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ 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 formerfranka_gazebopackage.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_cmake_gmock | |
| gz_ros2_control | |
| hardware_interface | |
| pinocchio | |
| pluginlib | |
| rclcpp | |
| rclcpp_lifecycle |
System Dependencies
| Name |
|---|
| ignition-gazebo6 |
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| franka_gazebo_bringup | |
| franka_ros2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.