Changelog for package franka_ros2

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

• Add: Added a joint-based point-to-point motion action with usage example
• Remove: [olvx_description_module]{.title-ref} dependency removed
• BREAKING CHANGE: arm_id replaced by robot_type and controller_name by controller_names
• Feat: TMRv0.2 teleoperation example controller added
• Feat: arm_id replaced by robot_type
• Feat: add franka_mobile_sensors as optional package for TMR robots

v2.1.0 (2025-10-24)

Requires libfranka >= 0.18.0 and franka_description >= 1.2.0 requires ROS 2 Humble

• BREAKING CHANGE: only one move group called [(arm_id)_arm]{.title-ref} is available. If Franka Hand is set, the TCP is placed as in the former [(arm_id)_manipulator]{.title-ref}. Otherwise, its location corresponds to the one from the former [(arm_id)_arm]{.title-ref}.
• Refactor: ee_id and load_gripper arguments added in moveit launch file
• Updated dependencies: libfranka to 0.18.0 and franka_description to 1.2.0

v2.0.3 (2025-09-18)

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

• Refactor: Optimized the franka_robot_state_broadcaster to not block the RT loop of ros2_control
• Docs: Add docs under each package

v2.0.2 (2025-07-09)

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

• refactor: srdf files come from franka description
• Fix: FrankaHardwareInterface: Fix eager claiming bug when multiple hardware components are present
• Fix: joint_state_publisher uses correct topics to avoid rviz glitches

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

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