frankarobotics/franka_ros2 v3.6.1

franka_ros2 v3.6.1

on GitHub

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

• fix: tmrv0_2.launch.py read robot_ip and use_rviz only from the
  config file. Both are now launch arguments that override the config file
  when given.
• fix: franka_mobile_sensors started the robot_state_publisher for the
  sensor frames only together with RViz, so start_rviz:=false dropped the
  lidar and camera frames from TF. With RViz off, a robot_state_publisher
  in the sensors namespace now publishes them (publish_sensor_tf,
  default true). Its tree starts at base_link, its URDF stays off
  /robot_description and it does not read /joint_states, so with
  start_rviz:=false it can run next to tmrv0_2.launch.py.
• fix: tmrv0_2_with_sensors.urdf.xacro and
  mobile_fr3_duo_v0_2_with_sensors.urdf.xacro no longer add the fixed
  base -> base_link root. The tree starts at base_link, which
  leaves base -> base_link to the swerve odometry. The description and
  the Gazebo wrapper never added it, and the sensor RViz config already uses
  base_link as its fixed frame.
• fix: franka_mobile_sensors declares joint_state_publisher_gui, which
  its RViz launch file starts.
• fix: franka_semantic_components::FrankaRobotState now sizes and labels the joint arrays of
  FrankaRobotState from the arm the component is bound to, instead of from every revolute
  joint in the global robot_description. With more than seven revolute joints in the
  description the arrays came out longer than seven, and the trailing entries were filled by
  reading past the end of libfranka's seven-element arrays, so they carried a different quantity
  than their joint name promised and each broadcaster labelled its own arm's data with another
  arm's joint names. The arm's seven joints are looked up by name, so single-arm descriptions
  with extra revolute end-effector joints are fixed as well. The message frame IDs are now
  resolved from the same arm by name. Base-frame fields (joint states, o_*) use
  <arm>_link0; on a stock single-arm launch they previously used base. f_t_ee and
  inertia_load use the flange <arm>_link8, and without a gripper so do ee_t_k,
  k_f_ext_hat_k, inertia_ee and inertia_total; these previously used <arm>_link2
  on single-arm descriptions. This reaches ~/current_pose and the other convenience topics. The
  joint copy is additionally bounded by libfranka's seven-element arrays. A description missing
  the arm's joints, link0 or link8 is rejected when the component is constructed; a
  description missing an accelerometer frame is rejected when the message is initialized during
  configure.
• fix: FrankaHardwareInterface::read()/write() skip the cycle instead of blocking while a
  command mode switch holds the robot (tens of milliseconds) (GitHub Issue #243).
• fix: the first write() after a command mode switch is skipped until a fresh read().
• fix: write() returns ERROR instead of a warning when no robot control is active.
• fix: move_to_start_example_controller performs no set_parameter on the
  realtime thread: update() flips an atomic flag and a 20 ms wall timer publishes
  the process_finished parameter off the thread. Setting the parameter every
  1 kHz cycle stalled the controller for ~337 ms when a ros2 CLI participant
  joined and tripped a communication_constraints_violation reflex.
  on_configure resets the parameter to false synchronously; after a
  deactivate/activate without reconfigure, the previous value may remain visible for
  up to one publish period (~20 ms).
• fix: cartesian_impedance_example_controller resolves its interface names from the
  robot_type (+ arm_prefix) parameters like all other examples, instead of the
  leftover arm_id parameter. Rename arm_id to robot_type in custom configs
  (the default fr3 behaviour is unchanged); a stale arm_id override logs a
  warning in on_configure.
• fix: cartesian_impedance_example_controller performs no controller-side heap
  allocation on the realtime thread: the Jacobian damped pseudo-inverse uses a
  fixed-size LDLT formulation instead of a dynamic-matrix SVD, and the demo motion
  target lives in a realtime-side member. Behaviour is numerically unchanged.
• feat: move_group.launch.py takes a robot_type launch argument (default fr3)
  and builds the URDF/SRDF and the joint/group names in the MoveIt configs from it, so
  other robot types (e.g. fr3v2, whose model and fr3v2_arm group ship in
  franka_description) get a working MoveIt model instead of a hardcoded fr3 one.
  joint_impedance_with_ik_example_controller.launch.py forwards robot_type from
  the robot config file to move_group.launch.py.