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CHANGELOG.md 3.77 KiB
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
- Fixed joint velocity and acceleration limits in
- BREAKING Updated joint limits in URDF
-
BREAKING Fixed velocity, acceleration and jerk limits in
franka_hw
-
BREAKING Start
franka_gripper_node
when givingload_gripper:=true
tofranka_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
fromdefault_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 defaultrobot_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
) topanda_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
andfranka_example_controllers
- Fixed linker errors when building with
-DFranka_DIR
while an older version ofros-kinetic-libfranka
is installed - Added gripper joint state publisher to
franka_visualization
- Moved
move_to_start.py
example script tofranka_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>
formessage_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
andfranka_control
- Added
tau_J_d
,m_ee
,F_x_Cee
,I_ee
,m_total
,F_x_Ctotal
,I_total
,theta
anddtheta
tofranka_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
tofranka_hw
- Added missing CMake install rules
0.1.0 - 2017-09-15
- Initial release