Changelog for package franka_ros2

v2.6.0 (2026-08-10)

Requires libfranka >= 0.20.4 and franka_description >= 2.8.1 requires ROS 2 Humble

• fix: tune mobile teleop velocity/acceleration limits to stay within the RCU 2-norm bounds. Raise swerve translational limits to 0.35 m/s / 0.4 m/s\^2 and rotational to 0.5 rad/s / 0.3 rad/s\^2 in controllers.yaml, rescale the xbox normal/turbo axes in xbox.config.yaml to match max_velocity, and reduce the joystick deadzone (0.1) with a higher autorepeat rate (50 Hz) in mobile_teleop.launch.py for smoother teleop.
• test: add a no-hardware integration test suite: a fake-hardware FR3 controller-lifecycle test, a Joy→cmd_vel teleop test, a launch-file parsing test, a MoveIt planning smoke test with a gripper name-consistency check, and a single GTest that loads every example controller. moveit.launch.py gains a use_rviz argument so the smoke test can run headless. The CI test stage now selects franka_bringup, which the package filter had excluded, so its tests are executed rather than only built.
• fix: align MoveIt gripper controller name with actual gripper node name. fr3_controllers.yaml and moveit.launch.py referenced fr3_gripper but the node is launched as franka_gripper, breaking gripper action commands and joint state aggregation in MoveIt. (GitHub PR #206)
• fix: add missing dependencies in package.xml for isolated builds (rclcpp_components in franka_hardware; rclcpp_lifecycle, urdf, eigen in franka_semantic_components). Fixes rosdep-based fresh-environment builds. (community contribution: GitHub PRs #96, #169)
• refactor: BREAKING CHANGE decouple the simulation backend (real/mock/gazebo) from the franka_hardware ros2_control macros (franka_arm and tmrv0_2). The hardware <plugin> block and the gz_ros2_control <gazebo> system element are now injected by the owning package (franka_bringup for real/mock, franka_gazebo_bringup for gazebo) instead of being selected by xacro:if inside franka_hardware. Mode/interface selection moved to the entry-point URDFs as capability flags (include_effort_command, include_finger_joint, include_passive_base), replacing the former gazebo / gazebo_effort flags. URDF expansions remain behavior-equivalent.
• fix: collapse five duplicate top-level /**: keys in franka_gazebo_bringup's franka_gazebo_controllers.yaml into one. YAML last-key-wins was silently dropping the controller_manager type declarations, blocking the tmr gazebo launch.

v2.5.1 (2026-07-07)

Requires libfranka >= 0.20.4 and franka_description >= 2.8.0 requires ROS 2 Humble

* feat: add tmr launch file in franka bringup and use it for the mobile teleop launch file Requires libfranka >= 0.20.4 and franka_description >= 2.8.0 requires ROS 2 Humble

• feat: franka_gazebo: add robot model, full franka::RobotState and estimated external-wrench (tcp force/torque) state interfaces to the gz_ros2_control system plugin, so model-based and force/torque controllers activate in simulation like on hardware. The plugin is renamed franka_gazebo_hardware/FrankaGazeboHardwareInterface.
• fix: franka_hardware: set the gz_ros2_control plugin <ros><namespace> for the mobile robot (tmrv0_2) so the controller_manager comes up in the /mobile_base namespace and controllers load in simulation instead of the launch hanging on robot_state_publisher service not available.
• feat: franka_gazebo: the simulated external wrench is expressed in the stiffness frame K (K_F_ext_hat_K and the _tcp force/torque 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: franka_gazebo: export the 16 <i>/cartesian_pose_state state interfaces from the gz_ros2_control system plugin, so Cartesian-pose controllers activate in simulation like on hardware.

v2.5.0 (2026-06-23)

Requires libfranka >= 0.20.4 and franka_description >= 2.8.0 requires ROS 2 Humble

• chore: split the gazebo sources into two packages, franka_gazebo_bringup (launch files, worlds, robot descriptions, controller configs) and franka_gazebo_hardware (the gz_ros2_control gravity-compensation system plugin, franka_gazebo_hardware/GazeboGravityCompensationSystem). The public ros2 launch franka_gazebo_bringup ... command is unchanged.

* fix: franka_gazebo_bringup: fix launch file for gazebo (use world without gravity by default for example controllers) Requires libfranka >= 0.20.4 and franka_description >= 2.7.0 requires ROS 2 Humble Requires libfranka >= 0.20.4 and franka_description >= 2.8.0(?) requires ROS 2 Jazzy

• feat: expose K_F_ext_hat_K as ForceTorqueSensor state interfaces (force.x/y/z, torque.x/y/z) on the <arm_prefix><robot_type>_tcp sensor, enabling direct wrench consumption at control frequency without a topic bridge.
• BREAKING CHANGE: collision_detected topic now uses best_effort QoS (SensorDataQoS); thread-safe atomics for collision state in example

File truncated at 100 lines see the full file