Changelog for package franka_ros2

v2.7.1 (2026-09-01) ----------

• fix: spine ~/halt and move_absolute cancel did not stop the carriage. halt_motion() posted to /spine/api/motion:halt, which the device does not implement (404). It now uses motion:quick-stop, re-arms to SwitchedOn after the DS402 stop, overlaps halt and feedback with the blocking motion-mm:start on one HTTP client, and does not report a goal canceled when halt fails.
• fix: spine http_timeout (default 3 s) is only the connect timeout and the budget for short REST. motion-mm:start uses (http_timeout, 600 s) so a long move is not aborted by the short read; the motion lock stays held until that POST returns.
• refactor: spine REST wire strings live in SpineStatus (DS402 states) and SpineMotion (Finished).
• fix: move_absolute no longer surfaces HTTP 424 when the spine is not SwitchedOn. It checks state first and reports e.g. Cannot start motion: spine is SwitchedOff (expected SwitchedOn).

v2.7.0 (2026-08-14) ----------

• feat: add TMR battery ROS 2 support in franka_mobile (sensor_msgs/BatteryState topic at 1 Hz and std_srvs/Trigger services for wireless charging), with an internal franka_desk_api HTTPS helper used by the spine and battery clients.

• fix: franka_hardware tests now run in isolated ROS domains to avoid possible collisions.

• fix: fixed franka_hardware stop motion test to check for stopping_joint_positions matching the last

  commanded target instead of zero positions.

v2.6.0 (2026-08-10)

Requires libfranka >= 0.20.4 and franka_description >= 2.8.1 requires ROS 2 Humble

• fix: tune mobile teleop velocity/acceleration limits to stay within the RCU 2-norm bounds. Raise swerve translational limits to 0.35 m/s / 0.4 m/s\^2 and rotational to 0.5 rad/s / 0.3 rad/s\^2 in controllers.yaml, rescale the xbox normal/turbo axes in xbox.config.yaml to match max_velocity, and reduce the joystick deadzone (0.1) with a higher autorepeat rate (50 Hz) in mobile_teleop.launch.py for smoother teleop.
• test: add a no-hardware integration test suite: a fake-hardware FR3 controller-lifecycle test, a Joy→cmd_vel teleop test, a launch-file parsing test, a MoveIt planning smoke test with a gripper name-consistency check, and a single GTest that loads every example controller. moveit.launch.py gains a use_rviz argument so the smoke test can run headless. The CI test stage now selects franka_bringup, which the package filter had excluded, so its tests are executed rather than only built.
• fix: align MoveIt gripper controller name with actual gripper node name. fr3_controllers.yaml and moveit.launch.py referenced fr3_gripper but the node is launched as franka_gripper, breaking gripper action commands and joint state aggregation in MoveIt. (GitHub PR #206)
• fix: add missing dependencies in package.xml for isolated builds (rclcpp_components in franka_hardware; rclcpp_lifecycle, urdf, eigen in franka_semantic_components). Fixes rosdep-based fresh-environment builds. (community contribution: GitHub PRs #96, #169)
• refactor: BREAKING CHANGE decouple the simulation backend (real/mock/gazebo) from the franka_hardware ros2_control macros (franka_arm and tmrv0_2). The hardware <plugin> block and the gz_ros2_control <gazebo> system element are now injected by the owning package (franka_bringup for real/mock, franka_gazebo_bringup for gazebo) instead of being selected by xacro:if inside franka_hardware. Mode/interface selection moved to the entry-point URDFs as capability flags (include_effort_command, include_finger_joint, include_passive_base), replacing the former gazebo / gazebo_effort flags. URDF expansions remain behavior-equivalent.
• fix: collapse five duplicate top-level /**: keys in franka_gazebo_bringup's franka_gazebo_controllers.yaml into one. YAML last-key-wins was silently dropping the controller_manager type declarations, blocking the tmr gazebo launch.

v2.5.1 (2026-07-07)

Requires libfranka >= 0.20.4 and franka_description >= 2.8.0 requires ROS 2 Humble

* feat: add tmr launch file in franka bringup and use it for the mobile teleop launch file Requires libfranka >= 0.20.4 and franka_description >= 2.8.0 requires ROS 2 Humble

• feat: franka_gazebo: add robot model, full franka::RobotState and estimated external-wrench (tcp force/torque) state interfaces to the gz_ros2_control system plugin, so model-based and force/torque controllers activate in simulation like on hardware. The plugin is renamed franka_gazebo_hardware/FrankaGazeboHardwareInterface.
• fix: franka_hardware: set the gz_ros2_control plugin <ros><namespace> for the mobile robot (tmrv0_2) so the controller_manager comes up in the /mobile_base namespace and

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