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CHANGELOG.md

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  • To find the state of this project's repository at the time of any of these versions, check out the tags.

    CHANGELOG

    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