From 6e6fd718a2b5ba30a9b5b02d29fe0edd11808701 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Tue, 7 Aug 2018 15:13:25 +0200
Subject: [PATCH] Update changelog

---
 CHANGELOG.md | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index e46e4d1..f863602 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,9 @@
 
 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`
@@ -12,9 +15,7 @@ Requires `libfranka` >= 0.5.0
   * **BREAKING** Enabled 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`
-  * **BREAKING** Fixes for MoveIt:
-    * Fixed joint velocity and acceleration limits in `joint_limits.yaml`
-    * Use desired joint state for move group
+  * Fixed a bug when switching between controllers using the same `libfranka` interface
 
 ## 0.5.0 - 2018-06-28
 
-- 
GitLab