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

• feat: Added the spline action server and examples for the Franka Spine

• chore: refactored gazebo launch files, added integration tests

• chore: refactored mFR3duo example controller to be gazebo independent by chaining swerve_ik_controller

• chore: removed vendored controller_manager

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

• docu: Maintenance work on documentation

• feat: add franka_vision_and_manipulation_kit package with urdf descriptions and launch files for the Franka Vision and Manipulation Kit

• 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

• chore: Added a CI job to try backporting jazzy to humble

• 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)

• feat: franka_vision_and_manipulation_kit package used in Gazebo to display the sensors of the kit

• fix: clang-tidy test duration reduced by applying a filter

• feat: added a gazebo example for fr3 duo using the franka vision and manipulation kit

• fix: teleop node is publishing correctly if there is no namespace

• feat: Added moveit support for mobile fr3 duo

• feat: Updated franka_selfcollision package to support mobile_fr3_duo in addition to fr3_duo

• fix: resolve segfault caused by ABI mismatch between hardware_interface and controller_manager C++ (rclcpp)

• chore: Unify ros2_control (Jazzy) sources to avoid ABI mismatches (add ros2_control to dependency.repos so hardware_interface/controller_manager build from the same ABI;
  remove the standalone hardware_interface fork; keep manage_overruns for async hardware components via a small patch auto-applied in franka_entrypoint.sh).
  BREAKING: existing workspaces must be cleaned before rebuilding: rm -rf build/ install/ && colcon build

• fix: Removed the franka_robot_state_broadcaster while using the TMR

• fix: With async control, it could happen that the robot_state is teared while publishing. This fix provides a
  lock-free intermediate buffer to allow mutual exclusive robot_state buffer data access.

• fix: improved integration test reliability

• chore: Removed the explicit self collision example and added it by default to the fr3 duo and mobile fr3 duo examples

• fix: make FrankaHardwareInterface error recoverable

• refactor: FrankaHardwareInterface to use enums for the control mode

• fix: ActionServers crashing when exception is not caught

• fix: re-enable franka_gazebo_bringup launch tests with robust gz sim cleanup between tests