29 lines
1.4 KiB
Markdown
29 lines
1.4 KiB
Markdown
# Changelog
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## 0.1.0 - 2023-07-28
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Requires libfranka >= 0.10.0, required ROS 2 Humble
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* franka\_bringup: franka_robot_state broadcaster added to franka.launch.py.
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* franka\_example\_controllers: model printing read onyl controller implemented
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* franka\_robot\_model: semantic component to access robot model parameters.
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* franka\_msgs: franka robot state msg added
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* franka\_robot\_state: broadcaster publishes robot state.
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### Added
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* CI tests in Jenkins.
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* joint\_effort\_trajectory\_controller package that contains a version of the
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joint\_trajectory\_controller that can use the torque interface.
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[See this PR](https://github.com/ros-controls/ros2_controllers/pull/225)
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* franka\_bringup package that contains various launch files to start controller examples or Moveit2.
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* franka\_moveit\_config package that contains a minimal moveit config to control the robot.
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* franka\_example\_controllers package that contains some example controllers to use.
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* franka\_hardware package that contains a plugin to access the robot.
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* franka\_msgs package that contains common message, service and action type definitions.
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* franka\_description package that contains all meshes and xacro files.
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* franka\_gripper package that offers action and service interfaces to use the Franka Hand gripper.
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### Fixed
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* franka\_hardware Fix the mismatched joint state interface type logger error message. |