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CHANGELOG.md

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CHANGELOG

0.7.0 - UNRELEASED

Requires libfranka >= 0.5.0

  • Moved panda_moveit_config to ros-planning
  • Publish robot_mode in franka_state_controller

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

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

0.3.0 - 2018-02-22

Requires libfranka >= 0.3.0

  • BREAKING Changed signatures in franka_hw::FrankaModelHandle
  • BREAKING Added epsilon parameters to franka_gripper/Grasp action
  • Added Collada meshes for Panda and Hand
  • Added missing dependencies to panda_moveit_config and franka_example_controllers
  • Fixed linker errors when building with -DFranka_DIR while an older version of ros-kinetic-libfranka is installed
  • Added gripper joint state publisher to franka_visualization
  • Moved move_to_start.py example script to franka_example_controllers

0.2.2 - 2018-01-31

Requires libfranka >= 0.2.0

  • Catkin-related fixes for franka_example_controllers
  • Added missing <build_export_depend> for message_runtime

0.2.1 - 2018-01-30

Requires libfranka >= 0.2.0

  • Added missing dependency to franka_example_controllers
  • Lowered rotational gains for Cartesian impedance example controller

0.2.0 - 2018-01-29

Requires libfranka >= 0.2.0

  • Added missing run-time dependencies to franka_description and franka_control
  • Added tau_J_d, m_ee, F_x_Cee, I_ee, m_total, F_x_Ctotal, I_total, theta and dtheta to franka_msgs/FrankaState
  • Added new errors to franka_msgs/Errors
  • Updated and improved examples in franka_example_controllers
  • Fixed includes for Eigen3 in franka_example_controllers
  • Fixed gripper state publishing in franka_gripper_node

0.1.2 - 2017-10-10

  • Fixed out-of-workspace build

0.1.1 - 2017-10-09

  • Integrated franka_description as subdirectory
  • Fixed dependencies on libfranka
  • Fixed RViz config file paths
  • Added missing test_depend to franka_hw
  • Added missing CMake install rules

0.1.0 - 2017-09-15

  • Initial release