Changelog for package franka_ros2

Pending Release:

# Fix: Franka robot state broadcaster frequently fails to update GitHub Issue #94 # Test: Re-enable a test and provide Mock functions # Style: Adjust clang-tidy config due to changes in generate_parameter_library() # Chore: Eliminate annoying CMake configure time messages

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](https://github.com/ros-controls/ros2_controllers/pull/225)
• 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.