Changelog for package franka_ros2

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 controllers. Subscribers using the default reliable QoS will no longer receive messages. To migrate, set the subscriber QoS to best_effort (SensorDataQoS):
• feat: Added franka_spine packages (franka_spine_msgs, franka_spine_server, franka_spine_examples) — ROS 2 action/service server for controlling the Franka Spine module
• docu: Added documentation for error recovery after an FCI error.
• refactor: Removed the dead auto_declare<std::string>("robot_description", "") parameter from the joint position/velocity example controllers - the URDF is obtained from robot_state_publisher via the parameters client, so the declaration was unused.
• chore: devcontainer container name now derives from the workspace folder basename (<folder>_humble) so variant clones no longer collide on a fixed container name.

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}

• feat: added a model-based gravity-compensation system plugin (franka_gazebo_bringup::GazeboGravityCompensationSystem) for gz_ros2_control that injects pinocchio-computed gravity torque on the effort-controlled arm joints, so the zero-torque example controllers behave in Gazebo as on the real robot (where the master controller performs gravity compensation) instead of collapsing under gravity.

• chore: removed the per-link <gravity>false</gravity> xacro overrides; gravity is now enabled globally in the Gazebo world. This is engine-independent (the previous approach relied on a gz-fortress gravity-disable behavior that is not forwarded by some physics engines). Simulation-only behavior change; no impact on real-robot users.

• 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)**

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