Merge pull request #39 in SRR/franka_ros2 from ROVIS_update_changelog…

…_ext_control_loop_torque to humble

* commit '891709686bef4ccf14ccb881d66c363423691503':
  add: update changelog format and version
  chore: update libfranka to the latest commit in fr3-develop branch
  updated changelog

CHANGELOG.md

@@ -1,5 +1,11 @@
 # Changelog
 
+## 0.1.1 - 2023-08-21
+
+Requires libfranka >= 0.11.0, required ROS 2 Humble
+
+* franka\_hardware: uses updated libfranka version providing the possibility to have the control loop on the ROS side
+
 ## 0.1.0 - 2023-07-28
 
 Requires libfranka >= 0.10.0, required ROS 2 Humble

Dockerfile

@@ -59,7 +59,7 @@ RUN python3 -m pip install -U \
 RUN mkdir ~/source_code    
 RUN cd ~/source_code && git clone https://github.com/frankaemika/libfranka.git \
     && cd libfranka \
-    && git checkout 5c3a5a57e26c1c360b63a4a112c7731bd4bcd515 \
+    && git checkout 9a9e949a85e82011e22f637a8f1e274b4dcd6e05 \
     && git submodule init \
     && git submodule update \
     && mkdir build && cd build \

franka_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_bringup</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>Package with launch files and run-time configurations for using Franka Emika research robots with ros2_control</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_description/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_description</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_description contains URDF files and meshes of Franka Emika robots</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_example_controllers/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_example_controllers</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_example_controllers provides example code for controlling Franka Emika research robots with ros2_control</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_gripper/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_gripper</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>This package implements the franka gripper of type Franka Hand for the use in ROS2</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_hardware/CMakeLists.txt

@@ -18,7 +18,7 @@ find_package(rclcpp REQUIRED)
 find_package(franka_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(Franka REQUIRED)
+find_package(Franka 0.11.0 REQUIRED)
 
 
 add_library(franka_hardware

franka_hardware/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_hardware</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_hardware provides hardware interfaces for using Franka Emika research robots with ros2_control</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_moveit_config/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_moveit_config</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>Contains Moveit2 configuration files for Franka Emika research robots</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>franka_msgs</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>franka_msgs provides messages and actions specific to Franka Emika research robots</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

franka_robot_state_broadcaster/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>franka_robot_state_broadcaster</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>Broadcaster to publish robot states</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>

integration_launch_testing/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>integration_launch_testing</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>Functional integration tests for franka controllers</description>
   <maintainer email="[email protected]">Franka Emika GmbH</maintainer>
   <license>Apache 2.0</license>