Merge remote-tracking branch 'github/develop' into develop

CHANGELOG.md

franka_control/config/default_controllers.yaml

franka_control/config/franka_control_node.yaml

franka_control/launch/franka_control.launch

franka_control/src/franka_control_node.cpp

franka_control/src/franka_state_controller.cpp

franka_description/robots/hand.xacro

...xample_controllers/config/franka_example_controllers.yaml

...a_example_controllers/cartesian_pose_example_controller.h

...ample_controllers/cartesian_velocity_example_controller.h

...a_example_controllers/joint_position_example_controller.h

...a_example_controllers/joint_velocity_example_controller.h

...lers/launch/cartesian_impedance_example_controller.launch

...ntrollers/launch/cartesian_pose_example_controller.launch

...llers/launch/cartesian_velocity_example_controller.launch

...xample_controllers/launch/force_example_controller.launch

...trollers/launch/joint_impedance_example_controller.launch

...ntrollers/launch/joint_position_example_controller.launch

...ntrollers/launch/joint_velocity_example_controller.launch

...xample_controllers/launch/model_example_controller.launch