libfranka 更新日志
UNRELEASED
Requires Franka Research 3 system version >= 5.8.0
Joint/Cartesian Pose velocity and acceleration errors are minimized.
Joint position and cartesian pose examples can now start from the initial q or O_T_EE
Joint position and cartesian pose low-pass filters are fixed to use the same command in the first package.
Important: The flags
fci_joint_motion_generator_position_limits_violation_flag
andfci_cartesian_motion_generator_joint_position_limits_violation_flag
are now always set to false and will be deprecated in future releases. They will be replaced byjoint_position_limits_violation
.
0.14.1 - 2024-09-06
Added doxygen generation
0.14.0 - 2024-03-26
Requires Franka Research 3 system version >= 5.7.0
Compute dynamic robot parameters with Pinocchio library.
0.13.5 - 2024-09-06
Updated doxygen generation
0.13.4 - 2024-09-05
Requires Franka Research 3 system version >= 5.5.0
Added package.xml for ros humble release
0.13.3 - 2024-01-18
Requires Franka Research 3 system version >= 5.5.0
Bump libfranka-common version compatible with 5.5.0
Delete the temporary-workaround max-path-pose deviation. Fixed in the system image.
0.13.2 - 2023-12-04
Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for active control.
0.13.1 - 2023-11-30
Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for callback based control.
0.13.0 - 2023-11-16
Add abstract ActiveControlBase class for the ActiveControllers to implement.
BREAKING Fix function naming errors in robot class.
BREAKING ActiveController initializer functions return ActiveControlBase
0.12.1 - 2023-09-20
Fix install common/include typo
0.12.0 - 2023-09-14
Requires Franka Research 3 system version >= 5.2.0
BREAKING ActiveControl serves now as base class for ActiveTorqueControl, that implements the torque control functionality
ActiveMotionGenerator class introduced to support external control loops for JointPositions, JointVelocities, CartesianPose and CartesianVelocities
0.11.0 - 2023-08-16
Requires Franka Research 3 system version >= 5.2.0
BREAKING Instead of using constants, velocity limits in rate-limiter are computed based on the current desired joint position.
Allow external control loops by the introduction of the ActiveControl read-write-interface for torque-control
0.10.0 - 2022-09-02
Requires Franka Research 3 system version >= 5.2.0
BREAKING Remove getVirtualWall and setFilters commands
BREAKING Disable rate-limiter by default
BREAKING Adapt rate limiting values in
rate_limiting.h
for FR3 robot
0.9.2 - 2022-08-31
Requires Panda system version >= 4.2.1
Revert usage of
set_version_from_git
in CMakeLists.txt, using hardcoded values instead
0.9.1 - 2022-08-26
Requires Panda system version >= 4.2.1
Use orthonormalized rotations in
cartesianLowpassFilter
,limitRate
andcartesian_impedance_control
exampleSupport building libfranka from outside the library, so the debian package name can be set externally.
Check if GitHub remote is always in sync
Bug fixes in
rate_limiting_tests.cpp
Make column names in
logToCSV
unique, separated them by state & cmdImprove error messages including current
RobotMode
information
0.9.0 - 2022-03-25
Requires Panda system version >= 4.2.1
BREAKING Add
O_ddP_O
base acceleration to robot state, hardcoded to{0, 0, -9.81}
.BREAKING New
base_acceleration_initialization_timeout
,base_acceleration_invalid_reading
cartesian_spline_motion_generator_violation
andjoint_via_motion_generator_planning_joint_limit_violation
reflexes.Adjust network error messages. Distinguish between problems resulting from:
a wrong network configuration. A message is shown after a timeout of 60 seconds.
a missing FCI feature or a blocked port due to Single Point of Control. An immediate error response is shown.
Changed signature of
franka::Model::gravity
to useO_ddP_O
in the robot state.
0.8.0 - 2020-04-29
Requires Panda system version >= 4.0.0
BREAKING Change behavior of
franka::Robot::setEE
. 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 inlibfranka
withsetEE
and defaults to the identity transformation.Add
F_T_NE
andNE_T_EE
tofranka::RobotState
.Add support for the cobot pump with
franka::VacuumGripper
.CPack: Add conflict with
ros-melodic-libfranka
.Fix missing include for Windows (#55).
0.7.1 - 2019-07-08
Requires Panda system version >= 3.0.0
Changed
Fix compilation error on ARM.
0.7.0 - 2019-07-05
Requires Panda system version >= 3.0.0
Added
Add support for using
franka::Model
on Linux ARM and ARM64 (requires Panda system version >= 3.1.0).Add Cartesian low-pass filter in
lowpass_filter.h
.Add
control_tools.h
with helper functions for writing control loops.
Changed
BREAKING Rename
franka::CartesianPose::hasValidElbow()
tofranka::CartesianPose::hasElbow()
.BREAKING Throw
std::invalid_argument
infranka::Robot::control
if NaN or infinity values are returned from a control callback.BREAKING Throw
std::invalid_argument
in low-pass filter and rate limiting functions if invalid values are given as function parameters.BREAKING Do not throw exceptions in constructors of control types anymore.
Take arguments by value in
franka::MotionFinished
.Bug fixes in
communication_test.cpp
.Export requirements for C++ features as CMake target compile features.
0.6.0 - 2019-02-06
Requires Panda system version >= 3.0.0
Added support for Ubuntu 18.04 (Bionic).
EXPERIMENTAL Added support for Windows.
Added support for using
franka::Model
on Linux and Windows x86 and x64.Bugfix for aborting gripper commands with
franka::Gripper::stop()
.Improved documentation for
franka::Robot::setCollisionBehavior
.
0.5.0 - 2018-08-08
Requires Panda system version >= 1.3.0
Motion and control interfaces
BREAKING Added low-pass filter for all realtime interfaces with default cutoff frequency of 100 Hz
DEPRECATED
franka::Robot::setFilters
in favor offranka::lowpassFilter
Fixed description of log record entries
Library
Added
lowpass_filter.h
to public interface
Examples
Added
communication_test.cpp
to evaluate network performance.
0.4.0 - 2018-06-21
Requires Panda system version >= 1.3.0
Motion and control interfaces
BREAKING Added rate limiting of commanded values as an option in the control loop and as a helper function. Rate limiting is activated by default, this could change the behavior of existing programs. Only works when filters (
franka::Robot::setFilters
) are deactivated.Added
joint_move_in_wrong_direction
error tofranka::RobotState
Added first and second derivatives of last commanded signals to
franka::RobotState
Library
Added
rate_limiting.h
to public interfaceRemoved unnecessary CMake script from installation
0.3.0 - 2018-02-22
Requires Panda system version >= 1.2.0
Motion and control interfaces
Added optional
epsilon
parameters tofranka::Gripper::grasp
Examples
Set default collision behavior, impedances, and filter frequencies
Removed command line parameters to simplify usage
Fixed locking bug in
joint_impedance_control
Library
BREAKING Changed signatures and added overloads in
franka::Model
Added additional variables to installed CMake config
Updated
SOVERSION
to include minor version numberAdded conflict with
ros-kinetic-libfranka
to Debian packagingMinor fixes and improvements for API documentation
Fixed build errors on Clang 5.0
Fixed test errors for Poco >= 1.8.0
0.2.0 - 2018-01-29
Requires Panda system version >= 1.1.0
Motion and control interfaces
Improved external torque tracking behavior.
Fixed discontinuities in commanding orientation changes via the cartesian pose interface.
Added
joint_p2p_insufficient_torque_for_planning
,tau_j_range_violation
, andinstability_detected
errors tofranka::RobotState
Added
tau_J_d
,m_ee
,F_x_Cee
,I_ee
,m_total
,F_x_Ctotal
,I_total
,theta
anddtheta
tofranka::RobotState
Added
setFilter
command tofranka::Robot
Added support for commanding elbow positions for Cartesian motions.
Added stiffness frame
K
tofranka::Model
BREAKING Replaced
p_min
andp_max
offranka::VirtualWallCuboid
withobject_world_size
Error handling
WARNING Not all robot errors can be recovered using the guiding button on the robot anymore. To manually recover from such errors, please use the Franka DESK web interface.
Added logs to
ControlException
and improved exception messages.Fail earlier (by throwing exception) if any of the commanded values are
NaN
orinfinity
.
Examples
Added saturation to joint velocity, joint position, and joint impedance examples.
Changed examples to read initial states inside control loops (after controller switching).
Examples first move to an initial joint position.
Added new cartesian impedance and force control examples.
Lowered grasping force in
grasp_object
example
Library
BREAKING New build-time dependency on Eigen3.
Changed thread priority to the maximum allowed value.
Prepare for the removal of the socket-init in the default constructor in POCO releases >= 1.8.0.
Removed unnecessary public dependencies for libfranka.
CI: Run linter on examples
Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.
0.1.0 - 2017-09-15
Initial release