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CHANGELOG.md

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Changelog

Added 28.11.23

  • Added dual panda arm moveit configurations and launch files. Still some bugs remaining, but plan & execute works.

Added 23.11.23

  • Implemented control loop re-running upon error recovery

Added 16.11.23

  • Implemented the error recovery fix from 15.11.23 to multi-arm

Added 15.11.23

  • Fixed the issue where error recovery was not working at all. This is a monkey patch; it does not use ros2_control's error return type handling at all.

Added 18.10.23

  • Added working dual_joint_velocity_example_controller

Added 17.10.23

  • Added write interface
  • Fixed multi-arm hardware interface to work with Franka state broadcaster
  • Parametrized franka_robot_state's robot_name_
  • Added working dual_joint_impedance_example_controller

Added 16.10.23

  • Added basic multi-arm hardware interface. Currently, initialization and read() function work.

Added 12.10.23

  • Added param setter services to allow run-time changing of stiffness, collision behavior, load, frames, etc.

Added 11.10.23

  • Added franka::ControlException handling in the control loop under robot.cpp
  • Added error recovery server for triggering automatic recovery, under franka_error_recovery_service_server.
  • Made corresponding changes to franka_hardware_interface and robot
  • Added ErrorRecovery.srv
  • Overhauled prepare_command_mode_switch to accommodate Cartesian interfaces with error checks
  • Added Cartesian velocity interface and a corresponding example controller

Added 10.10.23

  • Added additional controller interfaces: joint position, joint velocity
  • Added example controllers for the new interfaces
  • Confirmed that switching between controllers at runtime with rqt_controller_manager woks.

Added 06.10.23

  • Added franka_semantic_components adapted for panda
  • Updated FrankaState.msg to fit the ROS2 requirements
  • Added Errors.msg
  • Added working FrankaState broadcaster, which is included in franka.launch.py

Added 05.10.23

  • Added model_base.hpp and model.hpp; copy-pasted mostly from franka_ros
  • Extended robot.xpp to have a pointer to the robot's model
  • Added FrankaState to franka_hardware_interface; not yet exposed as a published topic.

[Old from Franka]

Added

  • CI tests in Jenkins
  • joint_effort_trajectory_controller package that contains a version of the joint_trajectory_controller that can use the torque interface. See this PR
  • franka_bringup package that contains various launch files to start controller examples or Moveit2
  • franka_moveit_config package that contains a minimal moveit config to control the robot
  • franka_example_controllers package that contains some example controllers to use
  • franka_hardware package that contains a plugin to access the robot
  • franka_msgs package that contains common message, service and action type definitions
  • franka_description package that contains all meshes and xacro files
  • franka_gripper package that offers action and service interfaces to use the Franka Hand gripper