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
* **BREAKING** Updated joint limits in URDF
* **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
* **BREAKING** Start `franka_gripper_node` when giving `load_gripper:=true` to `franka_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` from `default_controllers.yaml`
* Fixed a bug when switching between controllers using the same `libfranka` interface