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Merge pull request #37 in SWDEV/franka_ros from rcu-16.0.0 to master
* commit '3537d9016ff55b7308cce96d384d5d8561fd3ee4': Remove unnecessary include. Increase number of background threads to allow parallel service calls. Add new errors, sort in libfranka order. Use franka::Frame instead of strings added kinematics to model example controller added Jacobians and forward kinematics to model interface
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- franka_example_controllers/src/model_example_controller.cpp 9 additions, 0 deletionsfranka_example_controllers/src/model_example_controller.cpp
- franka_hw/include/franka_hw/franka_model_interface.h 135 additions, 59 deletionsfranka_hw/include/franka_hw/franka_model_interface.h
- franka_hw/msg/Errors.msg 9 additions, 0 deletionsfranka_hw/msg/Errors.msg
- franka_hw/src/franka_hw_node.cpp 2 additions, 2 deletionsfranka_hw/src/franka_hw_node.cpp
- franka_hw/src/franka_state_controller.cpp 78 additions, 52 deletionsfranka_hw/src/franka_state_controller.cpp
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