frankarobotics/franka_ros2 v3.6.0

franka_ros2 v3.6.0

on GitHub

Requires libfranka >= 0.20.4 and franka_description >= 2.9.0 requires ROS 2 Jazzy

• fix: polling the spine eventually killed its REST API until the TMR was
  rebooted. Every ~/get_position call ran its own request on its own
  connection, so once the device answered slower than the poll period the
  requests stacked up until nginx returned 504 Gateway Time-out. Position
  and state are now read through a cache that keeps one request in flight,
  serves anything younger than one feedback_rate period from memory, and
  leaves the endpoint alone for retry_delay after a failed read. The device
  sees at most feedback_rate requests per second per endpoint regardless of
  how many clients call the services or subscribe to the topics.
• feat: spine publishes ~/position (SpinePosition) and ~/state
  (SpineState) at feedback_rate, so a continuous stream no longer
  requires calling a service in a loop. Nothing is read while nobody is
  subscribed.
• feat: new spine parameter retry_delay (default 0.5 s), the pause before
  an endpoint is retried after a failed read.
• fix: spine http_timeout default lowered from 3 s to 2 s so a stuck read
  is dropped before the next poll period piles onto it.
• fix: move_absolute sampled the spine state on every feedback cycle,
  doubling the request rate during a move. The drive stops itself on a fault
  and this poll only reports it, so it now samples at most every 0.5 s.