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CHANGELOG.md

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    CHANGELOG.md 3.77 KiB

    CHANGELOG

    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

    0.5.0 - 2018-06-28

    Requires libfranka >= 0.4.0

    • BREAKING Updated URDF:
      • Adjusted maximum joint velocity
      • Updated axis 4 hard and soft limits

    0.4.1 - 2018-06-21

    Requires libfranka >= 0.3.0

    • Added some missing includes to franka_hw
    • Add support for commanding elbow in Cartesian pose and Cartesian velocity interfaces