Changelog for package franka_ros2

v2.0.1 (2025-06-26)

Requires libfranka >= 0.15.0 and franka_description >= 1.0.0 requires ROS 2 Humble

• Fix: joint_impedance_with_ik_example_controller uses correct time from robot

v2.0.0 (2025-06-10)

Requires libfranka >= 0.15.0 and franka_description >= 0.5.0 requires ROS 2 Humble

• BREAKING CHANGE: [franka.launch.py]{.title-ref} is adapted to use namespaces
• BREAKING CHANGE: the controller examples were removed to use a single launch script named [example.launch.py]{.title-ref}, which can launch multiple robots and takes the arguments from a config file named [franka.config.yaml]{.title-ref}
• Fix: franka gripper works with namespaces
• Add: [example.launch.py]{.title-ref} - a single launch script to launch any number of namespaces
• Feat: [franka.launch.py]{.title-ref} can launch different robots in specific namespaces
• Add: [franka.config.yaml]{.title-ref} to configure the input arguments for multiple robots
• Add: [controllers.yaml]{.title-ref} controller file for namespace-agnostic launch of existing controllers

v1.0.2 (2025-05-30)

Requires libfranka >= 0.15.0 and franka_description >= 0.5.0 requires ROS 2 Humble

• Fix: gripper example controller does not start any hardware interface

v1.0.1 (2025-05-26) ------------------

Requires libfranka >= 0.15.0 and franka_description >= 0.5.0 requires ROS 2 Humble

• Fix: FrankaRobotStateBroadcaster Lock issue - add configurable timeout (see controllers.yaml)
• Add: vcstool import for compatible libfranka and franka_description
• Fix: Franka robot state broadcaster GitHub Issue #94 and #105
• 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
• Feat: Added prefix to single robot control
• Doc: Added a link to the Gazebo README.md for better visibility
• Breaking feat: Automatically spawn command interfaces depending on the configured ones coming from the URDF

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

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