Changelog for package franka_ros2

v2.4.0 (2026-05-04) ----------Requires libfranka >= 0.20.4 and franka_description >= 2.7.0 requires ROS 2 Humble

• breaking change: Switching franka_description common package both for humble and jazzy -> 2.7.0

• chore: refactored cartesian velocity example controller to be gazebo independent by chaining [swerve_ik_controller]{.title-ref}

• docu: Maintenance work on documentation

• feat: Added [franka_mobile]{.title-ref} package with [swerve_drive_controller]{.title-ref} (tf and odom support) and [swerve_ik_controller]{.title-ref} for gazebo sim.

• refactor: replace blocking mutex in franka_robot_state_broadcaster with lock-free AsyncBuffer

• BREAKING CHANGE: franka_robot_state_broadcaster convenience topics are published with best_effort QoS. Topics affected: current_pose, stiffness_frame_wrench, and all other convenience topics from the broadcaster. Subscribers using the default reliable QoS will no longer receive messages. To migrate, set the subscriber QoS to best_effort:

  C++ (rclcpp)

    // Before (default reliable QoS — no longer receives messages):
    auto sub = node->create_subscription<geometry_msgs::msg::PoseStamped>(
        "current_pose", 10, callback);

    // After (best_effort QoS):
    rclcpp::QoS qos(10);
    qos.best_effort();
    auto sub = node->create_subscription<geometry_msgs::msg::PoseStamped>(
        "current_pose", qos, callback);
    

**Python (rclpy)**

    # Before (default reliable QoS — no longer receives messages):
    self.create_subscription(PoseStamped, 'current_pose', callback, 10)

    # After (best_effort QoS):
    from rclpy.qos import QoSProfile, ReliabilityPolicy
    qos = QoSProfile(depth=10, reliability=ReliabilityPolicy.BEST_EFFORT)
    self.create_subscription(PoseStamped, 'current_pose', callback, qos)
    

• fix: test fr3 urdf updated and segmentation fault errors from unit tests fixed

• fix: make FrankaHardwareInterface error recoverable

• refactor: FrankaHardwareInterface to use enums for the control mode

• fix: ActionServers crashing when exception is not caught

v2.3.0 (2026-03-10)

Requires libfranka >= 0.20.4 and franka_description >= 1.6.1 requires ROS 2 Humble

• feat: integration_launch_testing: added smoke tests for the example controllers
• feat: franka_mobile_sensors: add visualization of sensors in rviz
• feat: integration_launch_testing: test example controllers using example.launch.py
• fix: gripper_example_controller also works without namespace
• fix: corrected logs in franka_hardware
• fix: gravity_compensation_example_controller, move_to_start_example_controller, joint_impedance_example_controller work with parametrized robot_type
• fix: joint_impedance_with_ik_example_controller checked for 'robot_id' instead of 'robot_type' argument
• fix: added missing dependency to rclcpp_action in franka_hardware package.xml
• fix: franka_hardware test fixed
• fix: franka_hardware test fixed
• fix: rclpy.parameter_client.AsyncParameterClient replaced with custom version because the package is missing in humble
• feat: update to libfranka 0.20.4
• chore: cleanup franka_bringup launch utils import
• feat: multi robot example for gazebo
• fix: added arm_prefix functionality to all franka_example_controllers and franka_robot_state_broadcaster
• feat: add sensor support for gazebo. Remove multi robot example for gazebo.
• feat: support tmr simulation with sensors
• chore: removed integration_launch_testing package, moved integration tests in their subpackage
• feat: added unit tests for [franka_gazebo_bringup]{.title-ref} launch files and cleanup.

v2.2.0 (2026-01-14) ----------Requires libfranka >= 0.19.0 and franka_description >= 1.2.0 requires ROS 2 Humble

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