CHANGELOG.md

CHANGELOG

0.10.2 - UNRELEASED

Requires libfranka >= 0.8.0

• franka_gazebo: Offer both panda.launch and fr3.launch.
• franka_gazebo: Fix velocity control by adding the missing effort.
• franka_control: Clear the error flag if the robot is in kIdle mode, i.e. ready to move.
• franka_control: Fix unexpected long delay when calling error recovery (#317)
• Fix a possible compilation error by sorting include directories by topological order (#319).
• franka_control: Fix a bug where error_recovery actions recover future errors (#316).
• franka_gazebo: FrankaHWSim only acts on joints belonging to a Franka robot. This allows to combine a Franka robot and others (like mobile platforms) in same URDF (#313)
• franka_description: <xacro:franka_robot/> macro now supports to customize the parent frame and its xyz + rpy offset
• franka_hw: Fix the bug where the previous controller is still running after switching the controller. (#326)
• franka_gazebo: Add set_franka_model_configuration service.

0.10.1 - 2022-09-15

Requires libfranka >= 0.8.0

• franka_example_controllers: Fix examples not working on melodic due to non-ascii symbols in comments of franka_example_controllers.yaml.
• franka_example_controllers: The link_name in cartesian_impedance_example_controller.launch is now determined over the arm_id.
• franka_description: Fix catkin warning about catkin_add_nosetests

0.10.0 - 2022-09-02

Requires libfranka >= 0.8.0

• franka_example_controllers: Normalize rotations before usage
• franka_example_controllers: Extend the teleop_joint_pd_example_controller with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.
• franka_example_controllers: Don't require MoveIt for move_to_start.launch
• BREAKING franka_description: Refactor URDF files to also support FR3
• franka_control: Introduce optional robot argument in the franka_control.launch launch file that chooses either the URDF for panda or fr3. This argument can also be used in the launch files of franka_examples. The default is "panda".

0.9.1 - 2022-08-29

Requires libfranka >= 0.8.0

• franka_example_controllers: Extend the teleop_joint_pd_example_controller with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.
• franka_example_controllers: Extend the teleop_joint_pd_example_controller with a finite state machine that aligns the follower robot before starting to track the leader.
• franka_example_controllers: Extend the teleop_joint_pd_example_controller with joint walls to actively avoid position or velocity limit violations.
• franka_example_controllers: Fix namespacing of dynamic reconfigure node of cartesian impedance example controller
• franka_control: Configurable arm_id in launch & config files
• franka_description: URDF now contains $(arm_id)_linkN_sc links containing the capsule collision modules used for self-collision avoidance (MoveIt).
• franka_description: Unit test suite for URDFs
• franka_description: Make util.xacro be includable from other packages
• franka_description: Add tcp_xyz & tcp_rpy offsets to specify a custom TCP for MoveIT's $(arm_id)_manipulator move group
• franka_control: franka_control.launch accepts xacro_args to pass down additional arguments to URDF
• franka_gazebo: panda.launch accepts xacro_args to pass down additional arguments to URDF
• franka_gazebo: Fix motion generator config respects arm_id
• BREAKING: gripper_action goes now to the commanded gripper position when max_effort is zero
• franka_gazebo: Drop delayed_controller_spawner.py script in favor of --wait-for TOPIC flag from controller_manager
• franka_gazebo: Properly calculate inertial properties of world/stone/model.sdf
• franka_gazebo: set_user_stop service to simulate User stop in Gazebo
• franka_gazebo: error_recovery action similar to franka_control
• BREAKING: franka_gazebo: Move services like set_EE_frame, set_K_frame ... into franka_control namespace to be more consistent with real robot

0.9.0 - 2022-03-29

Requires libfranka >= 0.8.0

• Added support for libfranka 0.9.0
• BREAKING add base acceleration O_ddP_O (will for now always be {0,0,-9.81}) to FrankaState.msg
• BREAKING add following errors to Errors.msg:
  • joint_move_in_wrong_direction
  • cartesian_spline_motion_generator_violation
  • joint_via_motion_generator_planning_joint_limit_violation
  • base_acceleration_initialization_timeout
  • base_acceleration_invalid_reading
• franka_gazebo:
  • Add JointPosition and JointVelocity Interface
  • Fix: Robot now keeps position when no controller is running
  • joint_{position,velocity}_example controller are now available in franka_gazebo

0.8.2 - 2022-02-22

Requires libfranka >= 0.8.0

• franka_gazebo:
  • Fix: homing action works again
  • Fix: move action can fail instead of blocking indefinitely
  • Fix: align behavior of grasping action with franka_gripper
  • Add joint_state_desired publisher
  • Add singularity warning if Jacobian becomes singular
  • Make /panda namespace optional
  • Make finger collisions primitive in franka_gazebo
  • Add 'gravity_vector' gravity ROS parameter to FrankaHWSim
  • Improve Gazebo 'stone' world objects
  • Introduce new tau_ext_lowpass_filter parameter for franka_gazebo to configure the filtering of tau_ext_hat_filtered
  • Add realistic hand/finger collision geometries to the Gazebo robot description
• Fix: Allow interactive marker server to shut down if not initialized
• No further ROS Kinetic support, since End-of-Life was in April 2021
• Make position + orientation targets threadsafe in cartesian example controller
• Add effort joint trajectory controller to be used by MoveIT
• Fix "Failed to create robot simulation interface loader" bug when installing from APT
• Add connected_to option to panda_gazebo.xacro macro, similar to panda_arm.xacro
• Rename ns -> arm_id in hand.xacro macros to be consistent with the other xacro files

0.8.1 - 2021-09-08

Requires libfranka >= 0.8.0

• franka_hw:
  • Add bool hasError() member function to FrankaCombinableHW
  • Only execute controller update in franka_combined_control_node when not in error state
  • Reset command buffer upon recover in FrankaCombinableHW

0.8.0 - 2021-08-03

Requires libfranka >= 0.8.0

• franka_hw, franka_combinable_hw, franka_combined_hw: Added service interface to disconnect and reconnect when no controller is active. This allows mixing FCI- and DESK-based application without stopping the according hardware nodes.
• BREAKING franka_hw, franka_combinable_hw method control() now is non-const to allow locking a mutex member variable.
• BREAKING Change behavior of franka_msgs/SetEEFrame. Previously, this method would set the flange-to-end-effector transformation F_T_EE. This has been split up into two transformations: F_T_NE, only settable in Desk, and NE_T_EE, which can be set in franka_ros with SetEEFrame and defaults to the identity transformation.
• Add F_T_NE and NE_T_EE to franka_msgs/FrankaState.
• Franka Gazebo Integration: Now you can simulate Panda robots in Gazebo including:
  • gravity compensation
  • non-realtime commands like setEEFrame or setLoad
  • gripper simulation with the same action interface as franka_gripper
  • estimated inertias in the URDF
  • no need to change existing ROS controllers
  • only torque control supported in this version
• Extract Model Library in abstract base class interface. This allows users to implement their own model.
• BREAKING Remove panda_arm_hand.urdf.xacro. Use panda_arm.urdf.xacro hand:=true instead.

0.7.1 - 2020-10-22

Requires libfranka >= 0.7.0

• franka_example_controllers: Added example for dual-arm teleoperation based on franka_combinable_hw.
• franka_gripper: Made stopping on shutdown optional.
• franka_hw: Added franka_control_services install instruction.

0.7.0 - 2020-07-15

Requires libfranka >= 0.7.0

• BREAKING moved services and action from franka_control to franka_msgs.
• BREAKING moved Service container from franka_control to franka_hw.
• franka_example_controllers: Added example for dual-arm control based on franka_combinable_hw.
• franka_description :
  • Added an example urdf with two panda arms.
  • BREAKING Updated collision volumes.
  • Removed invalid axis for joint8.
• franka_hw:
  • Added hardware classes to support torque-controlling multiple robots from one controller.
  • Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
  • Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
  • Made initial collision behavior a parameter.
  • Added default constructor and init method to FrankaHW.
  • BREAKING moved parsing of parameters from control node to FrankaHW::init.
  • BREAKING made libfranka robot a member of FrankaHW.
  • Added missing return value to franka::ControllerMode stream operator function.
• franka_control:
  • Added control node that can runs a FrankaCombinedHW to control mulitple Pandas.
  • Publish whole libfranka franka::RobotState in franka_state_controller.
• franka_example_controllers:
  • Cartesian impedance example controller: Interpolate desired orientations with slerp and change orientation error to quaternion.
• BREAKING Moved panda_moveit_config to ros-planning.
• Added support for ROS Melodic Morenia.
• Raised minimum CMake version to 3.4 to match libfranka.
• Add rosparam to choose value of franka::RealtimeConfig.
• Fix unused parameter bugs in FrankaModelHandle (#78).
• Added (experimental) support for ROS Noetic Ninjemys.

0.6.0 - 2018-08-08

Requires libfranka >= 0.5.0

• BREAKING Fixes for MoveIt, improving robot performance:
  • Fixed joint velocity and acceleration limits in joint_limits.yaml
  • Use desired joint state for move group
• BREAKING Updated joint limits in URDF
• BREAKING Fixed velocity, acceleration and jerk limits in franka_hw
• BREAKING Start franka_gripper_node when giving load_gripper:=true to franka_control.launch
• Allow to configure rate limiting, filtering and internal controller in franka_control_node
• BREAKING FrankaHW::FrankaHW takes additional parameters.
• BREAKING Enabled rate limiting and low-pass filtering by default (franka_control_node.yaml)
• Publish desired joint state in /joint_state_desired
• Removed effort_joint_trajectory_controller from default_controllers.yaml
• Fixed a bug when switching between controllers using the same libfranka interface

0.5.0 - 2018-06-28

Requires libfranka >= 0.4.0

• BREAKING Updated URDF:
  • Adjusted maximum joint velocity
  • Updated axis 4 hard and soft limits

0.4.1 - 2018-06-21

Requires libfranka >= 0.3.0

• Added some missing includes to franka_hw
• Add support for commanding elbow in Cartesian pose and Cartesian velocity interfaces

0.4.0 - 2018-03-26

Requires libfranka >= 0.3.0

• BREAKING Removed arm_id and default robot_ip from launchfiles
• BREAKING Changed namespace of franka_control controller manager
• BREAKING Changed behavior of gripper_action for compatibility with MoveIt
• Changes in panda_moveit_config:
  • Updated joint limits from URDF
  • Removed home poses
  • Fixed fake execution
  • Add load_gripper argument (default: true) to panda_moveit.launch
  • Conditionally load controllers/SRDFs based on load_gripper
  • Add gripper controller configuration (requires running franka_gripper_node)
• Added mimic tag for gripper fingers to URDF and fixed velocity limits

0.3.0 - 2018-02-22

Requires libfranka >= 0.3.0

• BREAKING Changed signatures in franka_hw::FrankaModelHandle
• BREAKING Added epsilon parameters to franka_gripper/Grasp action
• Added Collada meshes for Panda and Hand
• Added missing dependencies to panda_moveit_config and franka_example_controllers
• Fixed linker errors when building with -DFranka_DIR while an older version of ros-kinetic-libfranka is installed
• Added gripper joint state publisher to franka_visualization
• Moved move_to_start.py example script to franka_example_controllers

0.2.2 - 2018-01-31

Requires libfranka >= 0.2.0

• Catkin-related fixes for franka_example_controllers
• Added missing <build_export_depend> for message_runtime

0.2.1 - 2018-01-30

Requires libfranka >= 0.2.0

• Added missing dependency to franka_example_controllers
• Lowered rotational gains for Cartesian impedance example controller

0.2.0 - 2018-01-29

Requires libfranka >= 0.2.0

• Added missing run-time dependencies to franka_description and franka_control
• Added tau_J_d, m_ee, F_x_Cee, I_ee, m_total, F_x_Ctotal, I_total, theta and dtheta to franka_msgs/FrankaState
• Added new errors to franka_msgs/Errors
• Updated and improved examples in franka_example_controllers
• Fixed includes for Eigen3 in franka_example_controllers
• Fixed gripper state publishing in franka_gripper_node

0.1.2 - 2017-10-10

• Fixed out-of-workspace build

0.1.1 - 2017-10-09

• Integrated franka_description as subdirectory
• Fixed dependencies on libfranka
• Fixed RViz config file paths
• Added missing test_depend to franka_hw
• Added missing CMake install rules

0.1.0 - 2017-09-15

• Initial release