Requires libfranka >= 0.20.4 and franka_description >= 2.7.0 requires ROS 2 Humble

• breaking change: Switching franka_description common package both for humble and jazzy -> 2.7.0

• chore: refactored cartesian velocity example controller to be gazebo independent by chaining swerve_ik_controller

• docu: Maintenance work on documentation

• feat: Added franka_mobile package with swerve_drive_controller (tf and odom support) and swerve_ik_controller for gazebo sim.

• refactor: replace blocking mutex in franka_robot_state_broadcaster with lock-free AsyncBuffer

• BREAKING CHANGE: franka_robot_state_broadcaster convenience topics are published with best_effort QoS.
  Topics affected: current_pose, stiffness_frame_wrench, and all other convenience topics
  from the broadcaster. Subscribers using the default reliable QoS will no longer receive
  messages. To migrate, set the subscriber QoS to best_effort:

  C++ (rclcpp)

  .. code-block:: cpp

  // Before (default reliable QoS — no longer receives messages):
  auto sub = node->create_subscription<geometry_msgs::msg::PoseStamped>(
  "current_pose", 10, callback);

  // After (best_effort QoS):
  rclcpp::QoS qos(10);
  qos.best_effort();
  auto sub = node->create_subscription<geometry_msgs::msg::PoseStamped>(
  "current_pose", qos, callback);

  Python (rclpy)

  .. code-block:: python

  Before (default reliable QoS — no longer receives messages):

  self.create_subscription(PoseStamped, 'current_pose', callback, 10)

  After (best_effort QoS):

  from rclpy.qos import QoSProfile, ReliabilityPolicy
  qos = QoSProfile(depth=10, reliability=ReliabilityPolicy.BEST_EFFORT)
  self.create_subscription(PoseStamped, 'current_pose', callback, qos)

• fix: test fr3 urdf updated and segmentation fault errors from unit tests fixed

• fix: make FrankaHardwareInterface error recoverable

• refactor: FrankaHardwareInterface to use enums for the control mode

• fix: ActionServers crashing when exception is not caught