diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2406a786ebe140f929bfb335abd9a8379700a766..8a91451e5c29e8172f574c4be4be8d29311dd15f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,8 +4,15 @@
Requires `libfranka` >= 0.6.0
- * Fixed joint velocity and acceleration limits for MoveIt
- * Fixed limits in `franka_hw`
+ * **BREAKING** Updated joint limits in URDF
+ * **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
+ * Allow to configure rate limiting, filtering and internal controller in `franka_control_node`
+ * **BREAKING** Enabled 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`
+ * **BREAKING** Fixes for MoveIt:
+ * Fixed joint velocity and acceleration limits in `joint_limits.yaml`
+ * Use desired joint state for move group
## 0.5.0 - 2018-06-28
diff --git a/franka_control/config/default_controllers.yaml b/franka_control/config/default_controllers.yaml
index 533a31c51359428a4a14f797bd2db5e52640befd..28b48056c767ed1cb3d69afab4abf38a25730b0c 100644
--- a/franka_control/config/default_controllers.yaml
+++ b/franka_control/config/default_controllers.yaml
@@ -25,41 +25,6 @@ position_joint_trajectory_controller:
panda_joint7:
goal: 0.05
-effort_joint_trajectory_controller:
- type: effort_controllers/JointTrajectoryController
- joints:
- - panda_joint1
- - panda_joint2
- - panda_joint3
- - panda_joint4
- - panda_joint5
- - panda_joint6
- - panda_joint7
- constraints:
- goal_time: 0.5
- panda_joint1:
- goal: 0.05
- panda_joint2:
- goal: 0.05
- panda_joint3:
- goal: 0.05
- panda_joint4:
- goal: 0.05
- panda_joint5:
- goal: 0.05
- panda_joint6:
- goal: 0.05
- panda_joint7:
- goal: 0.05
- gains:
- panda_joint1: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint2: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint3: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint4: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint5: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint6: {p: 100, d: 10, i: 0, i_clamp: 1}
- panda_joint7: {p: 100, d: 10, i: 0, i_clamp: 1}
-
franka_state_controller:
type: franka_control/FrankaStateController
publish_rate: 30 # [Hz]
diff --git a/franka_example_controllers/launch/move_to_start.launch b/franka_example_controllers/launch/move_to_start.launch
index a33d162cb68a1fd4b72482bc2799358cb1ad7415..d27edf44a0803fad7310c5d7046007e66413d831 100644
--- a/franka_example_controllers/launch/move_to_start.launch
+++ b/franka_example_controllers/launch/move_to_start.launch
@@ -5,7 +5,6 @@
<include file="$(find franka_control)/launch/franka_control.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="false" />
- <arg name="publish_desired_values" value="true" />
</include>
<include file="$(find panda_moveit_config)/launch/panda_moveit.launch">
<arg name="load_gripper" value="false" />
diff --git a/franka_hw/src/franka_hw.cpp b/franka_hw/src/franka_hw.cpp
index 965694ff147bba5165b6386f7fe6e9aa98696072..5baa80590c98741e9a1c93ddc8f62f598af5b554 100644
--- a/franka_hw/src/franka_hw.cpp
+++ b/franka_hw/src/franka_hw.cpp
@@ -29,7 +29,7 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
pose_cartesian_command_(
{1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0}),
velocity_cartesian_command_({0.0, 0.0, 0.0, 0.0, 0.0, 0.0}) {
- for (size_t i = 0; i < joint_names_.size(); ++i) {
+ for (size_t i = 0; i < joint_names_.size(); i++) {
hardware_interface::JointStateHandle joint_handle_q_d(
joint_names_[i], &robot_state_.q_d[i], &robot_state_.dq_d[i], &robot_state_.tau_J[i]);
@@ -59,8 +59,8 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
joint_limits_interface::SoftJointLimits soft_limits;
joint_limits_interface::JointLimits joint_limits;
- for (auto joint_name : joint_names_) {
- int joint_index(std::stoi(joint_name.substr(joint_name.size() - 1)) - 1);
+ for (size_t i = 0; i < joint_names_.size(); i++) {
+ const std::string& joint_name = joint_names_[i];
auto urdf_joint = urdf_model.getJoint(joint_name);
if (!urdf_joint) {
ROS_ERROR_STREAM("FrankaHW: Could not get joint " << joint_name << " from urdf");
@@ -74,9 +74,9 @@ FrankaHW::FrankaHW(const std::array<std::string, 7>& joint_names,
if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) {
if (joint_limits_interface::getJointLimits(urdf_joint, joint_limits)) {
- joint_limits.max_acceleration = franka::kMaxJointAcceleration[joint_index];
+ joint_limits.max_acceleration = franka::kMaxJointAcceleration[i];
joint_limits.has_acceleration_limits = true;
- joint_limits.max_jerk = franka::kMaxJointJerk[joint_index];
+ joint_limits.max_jerk = franka::kMaxJointJerk[i];
joint_limits.has_jerk_limits = true;
joint_limits_interface::PositionJointSoftLimitsHandle position_limit_handle(
position_joint_interface_.getHandle(joint_name), joint_limits, soft_limits);
diff --git a/panda_moveit_config/launch/panda_control_moveit_rviz.launch b/panda_moveit_config/launch/panda_control_moveit_rviz.launch
index 8d91dcbea6ea58c79e53ad8688033d8e37a98ec8..7c1d0bb247432f0530575181d5ec29f22795366e 100644
--- a/panda_moveit_config/launch/panda_control_moveit_rviz.launch
+++ b/panda_moveit_config/launch/panda_control_moveit_rviz.launch
@@ -6,7 +6,6 @@
<include file="$(find franka_control)/launch/franka_control.launch" >
<arg name="robot_ip" value="$(arg robot_ip)" />
<arg name="load_gripper" value="$(arg load_gripper)" />
- <arg name="publish_desired_values" value="true" />
</include>
<include if="$(arg load_gripper)" file="$(find franka_gripper)/launch/franka_gripper.launch" >