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