From 83670b75a9ba3f2a157c5a581dbca0b404fbc084 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 11 Nov 2021 15:26:18 +0100
Subject: [PATCH 1/2] Define hand_tcp frame

... in the center between and aligned with the fingers
---
 franka_description/robots/hand.xacro | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
index 22e6a0876..2f9ae8cef 100644
--- a/franka_description/robots/hand.xacro
+++ b/franka_description/robots/hand.xacro
@@ -52,6 +52,13 @@
         </geometry>
       </collision>
     </link>
+    <!-- Define the hand_tcp frame -->
+    <link name="${ns}_hand_tcp" />
+    <joint name="${ns}_hand_tcp_joint" type="fixed">
+      <origin xyz="0 0 0.1034" rpy="0 0 ${-pi/4}" />
+      <parent link="${ns}_hand" />
+      <child link="${ns}_hand_tcp" />
+    </joint>
     <link name="${ns}_leftfinger">
       <visual>
         <geometry>

From 6942e27a4b367bf4b9b040c0319481045de24542 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 27 Oct 2021 23:21:07 +0200
Subject: [PATCH 2/2] Drop re-publishing joint_states_desired

---
 franka_control/launch/franka_control.launch | 6 ------
 franka_gazebo/launch/panda.launch           | 5 -----
 2 files changed, 11 deletions(-)

diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 842353f6e..0afb5ffc0 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -22,10 +22,4 @@
     <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
     <param name="rate" value="30"/>
   </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="/joint_states" to="/joint_states_desired" />
-  </node>
 </launch>
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index b29844188..eba70f46b 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -80,11 +80,6 @@
     <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
     <param name="rate" value="30"/>
   </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
-    <rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="joint_states" to="joint_states_desired" />
-  </node>
 
   <!-- Start only if cartesian_impedance_example_controller -->
   <node name="interactive_marker"