• ROS 2 Humble support
• franka_bringup: franka_robot_state broadcaster added to franka.launch.py.
• franka_example_controllers: model printing read onyl controller implemented
• franka_robot_model: semantic component to access robot model parameters.
• franka_msgs: franka robot state msg added
• franka_robot_state: broadcaster publishes robot state.
• more unit-tests and integration test