diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index ec18480ca747bad81c65d49f66de8fee807d9eff..0000000000000000000000000000000000000000 --- a/.gitmodules +++ /dev/null @@ -1,3 +0,0 @@ -[submodule "franka_description"] - path = franka_description - url = https://github.com/frankaemika/franka_description.git diff --git a/CHANGELOG.md b/CHANGELOG.md index 7e39d86d90fe94905a1a3e191b78e01d9be163b2..22a2fbd5a7b29ec70fde8582a664949785fb09d2 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,9 @@ # CHANGELOG +## 0.1.1 - UNRELEASED + + * Integrate franka_description as subdirectory + ## 0.1.0 - 2017-09-15 * Initial release diff --git a/franka_control/package.xml b/franka_control/package.xml index 1d147fc43bb97d3c2dcc61c1fd86907a868d4e68..470be51fd515314ea70d9a214847b0014fade0b7 100644 --- a/franka_control/package.xml +++ b/franka_control/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_control</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>franka_control provides a hardware node to control a Franka Emika research robot</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_description b/franka_description deleted file mode 160000 index 37b05181deb2d27a8ebcfee1e0d4a6871902682e..0000000000000000000000000000000000000000 --- a/franka_description +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 37b05181deb2d27a8ebcfee1e0d4a6871902682e diff --git a/franka_description/CMakeLists.txt b/franka_description/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..001965b76afc1f9901ce1b44dcd99da560ff7ebc --- /dev/null +++ b/franka_description/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(franka_description) + +find_package(catkin REQUIRED) +catkin_package(CATKIN_DEPENDS xacro) diff --git a/franka_description/mainpage.dox b/franka_description/mainpage.dox new file mode 100644 index 0000000000000000000000000000000000000000..941d0bf97714038b58c39c7dcd816e901e22c023 --- /dev/null +++ b/franka_description/mainpage.dox @@ -0,0 +1,6 @@ +/** + * @mainpage + * @htmlinclude "manifest.html" + * + * Overview page for Franka Emika research robots: https://frankaemika.github.io + */ diff --git a/franka_description/meshes/hand.STL b/franka_description/meshes/hand.STL new file mode 100644 index 0000000000000000000000000000000000000000..8febaf09ea131e1e99400373e78ce9b5b8cd22f0 Binary files /dev/null and b/franka_description/meshes/hand.STL differ diff --git a/franka_description/meshes/hand_collision.STL b/franka_description/meshes/hand_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..a26b3a8b653005f5d8c2181072ff2254fc69ded6 Binary files /dev/null and b/franka_description/meshes/hand_collision.STL differ diff --git a/franka_description/meshes/leftfinger.STL b/franka_description/meshes/leftfinger.STL new file mode 100644 index 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b/franka_description/meshes/link7_collision.STL differ diff --git a/franka_description/meshes/rightfinger.STL b/franka_description/meshes/rightfinger.STL new file mode 100644 index 0000000000000000000000000000000000000000..8f7d669cc225720ad748cf063a0d48f32b5376c4 Binary files /dev/null and b/franka_description/meshes/rightfinger.STL differ diff --git a/franka_description/meshes/rightfinger_collision.STL b/franka_description/meshes/rightfinger_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..b19fa4a40520056192f64b4b3b909579b9e397ad Binary files /dev/null and b/franka_description/meshes/rightfinger_collision.STL differ diff --git a/franka_description/package.xml b/franka_description/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..03c970ad5999570c3fd39a4031dbe760129f943d --- /dev/null +++ b/franka_description/package.xml @@ -0,0 +1,17 @@ +<?xml version="1.0"?> +<package format="2"> + <name>franka_description</name> + <version>0.1.1</version> + <description>franka_description contains URDF files and meshes of Franka Emika robots</description> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> + <license>Apache 2.0</license> + + <url type="website">http://wiki.ros.org/franka_description</url> + <url type="repository">https://github.com/frankaemika/franka_ros</url> + <url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url> + <author>Franka Emika GmbH</author> + + <buildtool_depend>catkin</buildtool_depend> + + <exec_depend>xacro</exec_depend> +</package> diff --git a/franka_description/robots/hand.urdf.xacro b/franka_description/robots/hand.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..643fc608f05f2bd79f0212e01e1a01086d02bd57 --- /dev/null +++ b/franka_description/robots/hand.urdf.xacro @@ -0,0 +1,5 @@ +<?xml version="1.0" encoding="utf-8"?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand"> + <xacro:include filename="hand.xacro"/> + <xacro:hand ns="panda"/> +</robot> diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro new file mode 100644 index 0000000000000000000000000000000000000000..95ac3897ad6e01b412b9ade0eaf5268f46d9d768 --- /dev/null +++ b/franka_description/robots/hand.xacro @@ -0,0 +1,75 @@ +<?xml version="1.0" encoding="utf-8"?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand"> + <xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' "> + <xacro:unless value="${connected_to == ''}"> + <joint name="${ns}_hand_joint" type="fixed"> + <parent link="${connected_to}"/> + <child link="${ns}_hand"/> + <origin xyz="${xyz}" rpy="${rpy}"/> + </joint> + </xacro:unless> + <link name="${ns}_hand"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://franka_description/meshes/hand.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://franka_description/meshes/hand_collision.STL"/> + </geometry> + </collision> + </link> + <link name="${ns}_leftfinger"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://franka_description/meshes/leftfinger.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <mesh filename="package://franka_description/meshes/leftfinger_collision.STL"/> + </geometry> + </collision> + </link> + <link name="${ns}_rightfinger"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://franka_description/meshes/rightfinger.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <geometry> + <mesh filename="package://franka_description/meshes/rightfinger_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${ns}_finger_joint1" type="prismatic"> + <parent link="${ns}_hand"/> + <child link="${ns}_leftfinger"/> + <origin xyz="0 0 0.0584" rpy="0 0 0"/> + <axis xyz="0 1 0"/> + <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/> + </joint> + <joint name="${ns}_finger_joint2" type="prismatic"> + <parent link="${ns}_hand"/> + <child link="${ns}_rightfinger"/> + <origin xyz="0 0 0.0584" rpy="0 0 0"/> + <axis xyz="0 -1 0"/> + <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/> + </joint> + </xacro:macro> +</robot> diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..cfb3c2346656bc8f4cb66918756c2cfebe0f4dac --- /dev/null +++ b/franka_description/robots/panda_arm.urdf.xacro @@ -0,0 +1,5 @@ +<?xml version='1.0' encoding='utf-8'?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> + <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" /> + <xacro:panda_arm /> +</robot> diff --git a/franka_description/robots/panda_arm.xacro b/franka_description/robots/panda_arm.xacro new file mode 100644 index 0000000000000000000000000000000000000000..c2fbf260ae971843ad90791227112bc36c072126 --- /dev/null +++ b/franka_description/robots/panda_arm.xacro @@ -0,0 +1,211 @@ +<?xml version='1.0' encoding='utf-8'?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> + <xacro:macro name="panda_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0'"> + <xacro:unless value="${not connected_to}"> + <joint name="${arm_id}_joint_${connected_to}" type="fixed"> + <parent link="${connected_to}"/> + <child link="${arm_id}_link0"/> + <origin rpy="${rpy}" xyz="${xyz}"/> + </joint> + </xacro:unless> + <link name="${arm_id}_link0"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link0.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link0_collision.STL"/> + </geometry> + </collision> + </link> + <link name="${arm_id}_link1"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link1.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link1_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint1" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> + <origin rpy="0 0 0" xyz="0 0 0.333"/> + <parent link="${arm_id}_link0"/> + <child link="${arm_id}_link1"/> + <axis xyz="0 0 1"/> + <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/> + </joint> + <link name="${arm_id}_link2"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link2.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link2_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint2" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.74097" soft_upper_limit="1.74097"/> + <origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/> + <parent link="${arm_id}_link1"/> + <child link="${arm_id}_link2"/> + <axis xyz="0 0 1"/> + <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.5"/> + </joint> + <link name="${arm_id}_link3"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link3.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link3_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint3" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> + <origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/> + <parent link="${arm_id}_link2"/> + <child link="${arm_id}_link3"/> + <axis xyz="0 0 1"/> + <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/> + </joint> + <link name="${arm_id}_link4"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link4.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link4_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint4" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.98452" soft_upper_limit="0.082935"/> + <origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/> + <parent link="${arm_id}_link3"/> + <child link="${arm_id}_link4"/> + <axis xyz="0 0 1"/> + <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.5"/> + </joint> + <link name="${arm_id}_link5"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link5.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link5_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint5" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> + <origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/> + <parent link="${arm_id}_link4"/> + <child link="${arm_id}_link5"/> + <axis xyz="0 0 1"/> + <limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/> + </joint> + <link name="${arm_id}_link6"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link6.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link6_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint6" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.082935" soft_upper_limit="3.631185"/> + <origin rpy="1.570796326794897 0 0" xyz="0 0 0"/> + <parent link="${arm_id}_link5"/> + <child link="${arm_id}_link6"/> + <axis xyz="0 0 1"/> + <limit effort="12" lower="-0.0873" upper="3.8223" velocity="3"/> + </joint> + <link name="${arm_id}_link7"> + <visual> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link7.STL"/> + </geometry> + <material name=""> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0"/> + <geometry> + <mesh filename="package://${description_pkg}/meshes/link7_collision.STL"/> + </geometry> + </collision> + </link> + <joint name="${arm_id}_joint7" type="revolute"> + <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> + <origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/> + <parent link="${arm_id}_link6"/> + <child link="${arm_id}_link7"/> + <axis xyz="0 0 1"/> + <limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/> + </joint> + <link name="${arm_id}_link8"/> + <joint name="${arm_id}_joint8" type="fixed"> + <origin rpy="0 0 0" xyz="0 0 0.107"/> + <parent link="${arm_id}_link7"/> + <child link="${arm_id}_link8"/> + <axis xyz="0 0 0"/> + </joint> + </xacro:macro> +</robot> diff --git a/franka_description/robots/panda_arm_hand.urdf.xacro b/franka_description/robots/panda_arm_hand.urdf.xacro new file mode 100644 index 0000000000000000000000000000000000000000..4c0f2fcea82ddc1e99dcd85a760a9ede37313b3d --- /dev/null +++ b/franka_description/robots/panda_arm_hand.urdf.xacro @@ -0,0 +1,7 @@ +<?xml version="1.0" encoding="utf-8"?> +<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"> + <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro"/> + <xacro:include filename="$(find franka_description)/robots/hand.xacro"/> + <xacro:panda_arm /> + <xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8"/> +</robot> diff --git a/franka_description/rosdoc.yaml b/franka_description/rosdoc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96ee597ef5cacd0f223f676c738f396f0810b78c --- /dev/null +++ b/franka_description/rosdoc.yaml @@ -0,0 +1,2 @@ +- builder: doxygen + javadoc_autobrief: YES diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml index 3c181fe79aa6aa5acc411ac22ac07a4273abe9f6..cab14e4e720210fad1f32e32292419a28505f435 100644 --- a/franka_example_controllers/package.xml +++ b/franka_example_controllers/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_example_controllers</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>The franka_example_controllers package</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml index e03f800d43e30432064e9e62d0afa8674b40542f..a2c87f77edb6c473cbc5fb9f1d5273e67fc2a288 100644 --- a/franka_gripper/package.xml +++ b/franka_gripper/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_gripper</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>This package implements the franka gripper of type Franka Hand for the use in ros</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_hw/package.xml b/franka_hw/package.xml index 4654603b7e568537f61a64db663af534ef1f323a..e363fab7b6032d833da9bcbf58c3c683442b12b0 100644 --- a/franka_hw/package.xml +++ b/franka_hw/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_hw</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml index bbe272e5633c3963139025156049e931dab632b9..fcfb412cc1ae4d4ed1a8c15a7a887d09d7df5d1a 100644 --- a/franka_msgs/package.xml +++ b/franka_msgs/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_msgs</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>franka_msgs provides messages specific to Franka Emika research robots</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_ros/package.xml b/franka_ros/package.xml index 56d5835817905348b6d94ba83f0fa4c449daf0f6..f6552f2be588dd02ba1c8b27cb6c54abbfff1172 100644 --- a/franka_ros/package.xml +++ b/franka_ros/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_ros</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>franka_ros is a metapackage for all Franka Emika ROS packages</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml index 7ce0492d7476e3ee634209e472793966fb4b98b6..f2c25ed8617f3faa164b39e5ac269b7dbb9b3e40 100644 --- a/franka_visualization/package.xml +++ b/franka_visualization/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>franka_visualization</name> - <version>0.1.0</version> + <version>0.1.1</version> <description>This package contains visualization tools for Franka Emika.</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license> diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml index b679caff81af43c130234efc972fd7f419b6c5d4..b28e0d4982304411a27da4294f24d78b49bfa038 100644 --- a/panda_moveit_config/package.xml +++ b/panda_moveit_config/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>panda_moveit_config</name> - <version>0.1.0</version> + <version>0.1.1</version> <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description> <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>Apache 2.0</license>