frankarobotics/franka_ros2 v2.6.0

franka_ros2 v2.6.0

on GitHub

Requires libfranka >= 0.20.4 and franka_description >= 2.8.1 requires ROS 2 Humble

• fix: tune mobile teleop velocity/acceleration limits to stay within the RCU
  2-norm bounds. Raise swerve translational limits to 0.35 m/s / 0.4 m/s^2 and
  rotational to 0.5 rad/s / 0.3 rad/s^2 in controllers.yaml, rescale the xbox
  normal/turbo axes in xbox.config.yaml to match max_velocity, and reduce
  the joystick deadzone (0.1) with a higher autorepeat rate (50 Hz) in
  mobile_teleop.launch.py for smoother teleop.
• test: add a no-hardware integration test suite: a fake-hardware FR3
  controller-lifecycle test, a Joy→cmd_vel teleop test, a launch-file parsing test,
  a MoveIt planning smoke test with a gripper name-consistency check, and a single
  GTest that loads every example controller. moveit.launch.py gains a
  use_rviz argument so the smoke test can run headless. The CI test stage
  now selects franka_bringup, which the package filter had excluded, so its
  tests are executed rather than only built.
• fix: align MoveIt gripper controller name with actual gripper node name.
  fr3_controllers.yaml and moveit.launch.py referenced fr3_gripper
  but the node is launched as franka_gripper, breaking gripper action commands
  and joint state aggregation in MoveIt. (GitHub PR #206)
• fix: add missing dependencies in package.xml for isolated builds
  (rclcpp_components in franka_hardware; rclcpp_lifecycle, urdf,
  eigen in franka_semantic_components). Fixes rosdep-based fresh-environment
  builds. (community contribution: GitHub PRs #96, #169)
• refactor: BREAKING CHANGE decouple the simulation backend (real/mock/gazebo) from the
  franka_hardware ros2_control macros (franka_arm and tmrv0_2). The hardware
  <plugin> block and the gz_ros2_control <gazebo> system element are now
  injected by the owning package (franka_bringup for real/mock,
  franka_gazebo_bringup for gazebo) instead of being selected by xacro:if
  inside franka_hardware. Mode/interface selection moved to the entry-point URDFs as
  capability flags (include_effort_command, include_finger_joint,
  include_passive_base), replacing the former gazebo / gazebo_effort
  flags. URDF expansions remain behavior-equivalent.
• fix: collapse five duplicate top-level /**: keys in franka_gazebo_bringup's
  franka_gazebo_controllers.yaml into one. YAML last-key-wins was silently
  dropping the controller_manager type declarations, blocking the tmr gazebo launch.