franka_ros 更新日志
0.10.2 - UNRELEASED
Requires libfranka
>= 0.8.0
franka_gazebo
: Offer bothpanda.launch
andfr3.launch
.franka_gazebo
: Fix velocity control by adding the missing effort.franka_control
: Clear the error flag if the robot is inkIdle
mode, i.e. ready to move.franka_control
: Fix unexpected long delay when calling error recovery (#317)Fix a possible compilation error by sorting include directories by topological order (#319).
franka_control
: Fix a bug whereerror_recovery
actions recover future errors (#316).franka_gazebo
:FrankaHWSim
only acts on joints belonging to a Franka robot. This allows to combine a Franka robot and others (like mobile platforms) in same URDF (#313)franka_description
:<xacro:franka_robot/>
macro now supports to customize theparent
frame and itsxyz
+rpy
offsetfranka_hw
: Fix the bug where the previous controller is still running after switching the controller. (#326)franka_gazebo
: Addset_franka_model_configuration
service.
0.10.1 - 2022-09-15
Requires libfranka
>= 0.8.0
franka_example_controllers
: Fix examples not working on melodic due to non-ascii symbols in comments offranka_example_controllers.yaml
.franka_example_controllers
: Thelink_name
incartesian_impedance_example_controller.launch
is now determined over thearm_id
.franka_description
: Fix catkin warning aboutcatkin_add_nosetests
0.10.0 - 2022-09-02
Requires libfranka
>= 0.8.0
franka_example_controllers
: Normalize rotations before usagefranka_example_controllers
: Extend theteleop_joint_pd_example_controller
with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.franka_example_controllers
: Don’t require MoveIt formove_to_start.launch
BREAKING
franka_description
: Refactor URDF files to also support FR3franka_control
: Introduce optionalrobot
argument in thefranka_control.launch
launch file that chooses either the URDF for panda or fr3. This argument can also be used in the launch files offranka_examples
. The default is “panda”.
0.9.1 - 2022-08-29
Requires libfranka
>= 0.8.0
franka_example_controllers
: Extend theteleop_joint_pd_example_controller
with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.franka_example_controllers
: Extend theteleop_joint_pd_example_controller
with a finite state machine that aligns the follower robot before starting to track the leader.franka_example_controllers
: Extend theteleop_joint_pd_example_controller
with joint walls to actively avoid position or velocity limit violations.franka_example_controllers
: Fix namespacing of dynamic reconfigure node of cartesian impedance example controllerfranka_control
: Configurablearm_id
in launch & config filesfranka_description
: URDF now contains$(arm_id)_linkN_sc
links containing the capsule collision modules used for self-collision avoidance (MoveIt).franka_description
: Unit test suite for URDFsfranka_description
: Makeutil.xacro
be includable from other packagesfranka_description
: Addtcp_xyz
&tcp_rpy
offsets to specify a custom TCP for MoveIT’s$(arm_id)_manipulator
move groupfranka_control
:franka_control.launch
acceptsxacro_args
to pass down additional arguments to URDFfranka_gazebo
:panda.launch
acceptsxacro_args
to pass down additional arguments to URDFfranka_gazebo
: Fix motion generator config respectsarm_id
BREAKING:
gripper_action
goes now to the commanded gripper position whenmax_effort
is zerofranka_gazebo
: Dropdelayed_controller_spawner.py
script in favor of--wait-for TOPIC
flag from controller_managerfranka_gazebo
: Properly calculate inertial properties ofworld/stone/model.sdf
franka_gazebo
:set_user_stop
service to simulate User stop in Gazebofranka_gazebo
:error_recovery
action similar tofranka_control
BREAKING:
franka_gazebo
: Move services likeset_EE_frame
,set_K_frame
… intofranka_control
namespace to be more consistent with real robot
0.9.0 - 2022-03-29
Requires libfranka
>= 0.8.0
Added support for libfranka 0.9.0
BREAKING add base acceleration
O_ddP_O
(will for now always be {0,0,-9.81}) toFrankaState.msg
BREAKING add following errors to
Errors.msg
:joint_move_in_wrong_direction
cartesian_spline_motion_generator_violation
joint_via_motion_generator_planning_joint_limit_violation
base_acceleration_initialization_timeout
base_acceleration_invalid_reading
franka_gazebo
:Add JointPosition and JointVelocity Interface
Fix: Robot now keeps position when no controller is running
joint_{position,velocity}_example controller are now available in
franka_gazebo
0.8.2 - 2022-02-22
Requires libfranka
>= 0.8.0
franka_gazebo
:Fix: homing action works again
Fix: move action can fail instead of blocking indefinitely
Fix: align behavior of grasping action with
franka_gripper
Add
joint_state_desired
publisherAdd singularity warning if Jacobian becomes singular
Make
/panda
namespace optionalMake finger collisions primitive in
franka_gazebo
Add ‘gravity_vector’ gravity ROS parameter to FrankaHWSim
Improve Gazebo ‘stone’ world objects
Introduce new
tau_ext_lowpass_filter
parameter forfranka_gazebo
to configure the filtering oftau_ext_hat_filtered
Add realistic hand/finger collision geometries to the Gazebo robot description
Fix: Allow interactive marker server to shut down if not initialized
No further ROS Kinetic support, since End-of-Life was in April 2021
Make position + orientation targets threadsafe in cartesian example controller
Add effort joint trajectory controller to be used by MoveIT
Fix “Failed to create robot simulation interface loader” bug when installing from APT
Add
connected_to
option topanda_gazebo.xacro
macro, similar topanda_arm.xacro
Rename
ns
->arm_id
inhand.xacro
macros to be consistent with the other xacro files
0.8.1 - 2021-09-08
Requires libfranka
>= 0.8.0
franka_hw
:Add
bool hasError()
member function toFrankaCombinableHW
Only execute controller update in
franka_combined_control_node
when not in error stateReset command buffer upon recover in
FrankaCombinableHW
0.8.0 - 2021-08-03
Requires libfranka
>= 0.8.0
franka_hw
,franka_combinable_hw
,franka_combined_hw
: Added service interface to disconnect and reconnect when no controller is active. This allows mixing FCI- and DESK-based application without stopping the according hardware nodes.BREAKING
franka_hw
,franka_combinable_hw
method control() now is non-const to allow locking a mutex member variable.BREAKING Change behavior of
franka_msgs/SetEEFrame
. Previously, this method would set the flange-to-end-effector transformationF_T_EE
. This has been split up into two transformations:F_T_NE
, only settable in Desk, andNE_T_EE
, which can be set infranka_ros
withSetEEFrame
and defaults to the identity transformation.Add
F_T_NE
andNE_T_EE
tofranka_msgs/FrankaState
.Franka Gazebo Integration: Now you can simulate Panda robots in Gazebo including:
gravity compensation
non-realtime commands like
setEEFrame
orsetLoad
gripper simulation with the same action interface as
franka_gripper
estimated inertias in the URDF
no need to change existing ROS controllers
only torque control supported in this version
Extract Model Library in abstract base class interface. This allows users to implement their own model.
BREAKING Remove
panda_arm_hand.urdf.xacro
. Usepanda_arm.urdf.xacro hand:=true
instead.
0.7.1 - 2020-10-22
Requires libfranka
>= 0.7.0
franka_example_controllers
: Added example for dual-arm teleoperation based onfranka_combinable_hw
.franka_gripper
: Made stopping on shutdown optional.franka_hw
: Addedfranka_control_services
install instruction.
0.7.0 - 2020-07-15
Requires libfranka
>= 0.7.0
BREAKING moved services and action from
franka_control
tofranka_msgs
.BREAKING moved Service container from
franka_control
tofranka_hw
.franka_example_controllers
: Added example for dual-arm control based onfranka_combinable_hw
.franka_description
:Added an example urdf with two panda arms.
BREAKING Updated collision volumes.
Removed invalid
axis
forjoint8
.
franka_hw
:Added hardware classes to support torque-controlling multiple robots from one controller.
Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
Made initial collision behavior a parameter.
Added default constructor and init method to FrankaHW.
BREAKING moved parsing of parameters from control node to FrankaHW::init.
BREAKING made libfranka robot a member of FrankaHW.
Added missing return value to
franka::ControllerMode
stream operator function.
franka_control
:Added control node that can runs a
FrankaCombinedHW
to control mulitple Pandas.Publish whole
libfranka
franka::RobotState
infranka_state_controller
.
franka_example_controllers
:Cartesian impedance example controller: Interpolate desired orientations with slerp and change orientation error to quaternion.
BREAKING Moved
panda_moveit_config
toros-planning
.Added support for ROS Melodic Morenia.
Raised minimum CMake version to 3.4 to match
libfranka
.Add rosparam to choose value of
franka::RealtimeConfig
.Fix unused parameter bugs in
FrankaModelHandle
(#78).Added (experimental) support for ROS Noetic Ninjemys.
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 givingload_gripper:=true
tofranka_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
fromdefault_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 defaultrobot_ip
from launchfilesBREAKING Changed namespace of
franka_control
controller managerBREAKING Changed behavior of
gripper_action
for compatibility with MoveItChanges in
panda_moveit_config
:Updated joint limits from URDF
Removed
home
posesFixed fake execution
Add
load_gripper
argument (default:true
) topanda_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
actionAdded Collada meshes for Panda and Hand
Added missing dependencies to
panda_moveit_config
andfranka_example_controllers
Fixed linker errors when building with
-DFranka_DIR
while an older version ofros-kinetic-libfranka
is installedAdded gripper joint state publisher to
franka_visualization
Moved
move_to_start.py
example script tofranka_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>
formessage_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
andfranka_control
Added
tau_J_d
,m_ee
,F_x_Cee
,I_ee
,m_total
,F_x_Ctotal
,I_total
,theta
anddtheta
tofranka_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 subdirectoryFixed dependencies on libfranka
Fixed RViz config file paths
Added missing
test_depend
tofranka_hw
Added missing CMake install rules
0.1.0 - 2017-09-15
Initial release