From e6ad9fb84601dba612e831c49d8b196e3bd179b3 Mon Sep 17 00:00:00 2001 From: Andreas Gassner Date: Fri, 18 Aug 2023 10:20:17 +0200 Subject: [PATCH 1/3] updated changelog --- CHANGELOG.md | 6 ++++++ franka_hardware/CMakeLists.txt | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 1180e212..928a9144 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,11 @@ # Changelog +## 0.x.y - unreleased + +Requires libfranka >= 0.11.0, required ROS 2 Humble + +* franka\_hardware package 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 diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt index c8e8f234..f73286a4 100644 --- a/franka_hardware/CMakeLists.txt +++ b/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 From 3fc221799165ccd06f961a100b326ffc0cbcb57f Mon Sep 17 00:00:00 2001 From: Baris Yazici Date: Mon, 21 Aug 2023 10:12:38 +0200 Subject: [PATCH 2/3] chore: update libfranka to the latest commit in fr3-develop branch --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index 64b7d2a2..ef1e3dea 100644 --- a/Dockerfile +++ b/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 \ From 891709686bef4ccf14ccb881d66c363423691503 Mon Sep 17 00:00:00 2001 From: Baris Yazici Date: Mon, 21 Aug 2023 12:03:13 +0200 Subject: [PATCH 3/3] add: update changelog format and version --- CHANGELOG.md | 4 ++-- franka_bringup/package.xml | 2 +- franka_description/package.xml | 2 +- franka_example_controllers/package.xml | 2 +- franka_gripper/package.xml | 2 +- franka_hardware/package.xml | 2 +- franka_moveit_config/package.xml | 2 +- franka_msgs/package.xml | 2 +- franka_robot_state_broadcaster/package.xml | 2 +- integration_launch_testing/package.xml | 2 +- 10 files changed, 11 insertions(+), 11 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 928a9144..02d9cff1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,10 +1,10 @@ # Changelog -## 0.x.y - unreleased +## 0.1.1 - 2023-08-21 Requires libfranka >= 0.11.0, required ROS 2 Humble -* franka\_hardware package uses updated libfranka version providing the possibility to have the control loop on the ROS side +* franka\_hardware: uses updated libfranka version providing the possibility to have the control loop on the ROS side ## 0.1.0 - 2023-07-28 diff --git a/franka_bringup/package.xml b/franka_bringup/package.xml index 0c236238..dad9151c 100644 --- a/franka_bringup/package.xml +++ b/franka_bringup/package.xml @@ -2,7 +2,7 @@ franka_bringup - 0.1.0 + 0.1.1 Package with launch files and run-time configurations for using Franka Emika research robots with ros2_control Franka Emika GmbH Apache 2.0 diff --git a/franka_description/package.xml b/franka_description/package.xml index 6aebb31a..2dd0b361 100644 --- a/franka_description/package.xml +++ b/franka_description/package.xml @@ -2,7 +2,7 @@ franka_description - 0.1.0 + 0.1.1 franka_description contains URDF files and meshes of Franka Emika robots Franka Emika GmbH Apache 2.0 diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml index f67b09c4..5830bfe9 100644 --- a/franka_example_controllers/package.xml +++ b/franka_example_controllers/package.xml @@ -2,7 +2,7 @@ franka_example_controllers - 0.1.0 + 0.1.1 franka_example_controllers provides example code for controlling Franka Emika research robots with ros2_control Franka Emika GmbH Apache 2.0 diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml index e21fb299..a785ed53 100644 --- a/franka_gripper/package.xml +++ b/franka_gripper/package.xml @@ -2,7 +2,7 @@ franka_gripper - 0.1.0 + 0.1.1 This package implements the franka gripper of type Franka Hand for the use in ROS2 Franka Emika GmbH Apache 2.0 diff --git a/franka_hardware/package.xml b/franka_hardware/package.xml index 477d887f..1e09cae8 100644 --- a/franka_hardware/package.xml +++ b/franka_hardware/package.xml @@ -2,7 +2,7 @@ franka_hardware - 0.1.0 + 0.1.1 franka_hardware provides hardware interfaces for using Franka Emika research robots with ros2_control Franka Emika GmbH Apache 2.0 diff --git a/franka_moveit_config/package.xml b/franka_moveit_config/package.xml index 300d7f0e..e26cd43e 100644 --- a/franka_moveit_config/package.xml +++ b/franka_moveit_config/package.xml @@ -2,7 +2,7 @@ franka_moveit_config - 0.1.0 + 0.1.1 Contains Moveit2 configuration files for Franka Emika research robots Franka Emika GmbH Apache 2.0 diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml index 20ac74e4..36a2e1bc 100644 --- a/franka_msgs/package.xml +++ b/franka_msgs/package.xml @@ -2,7 +2,7 @@ franka_msgs - 0.1.0 + 0.1.1 franka_msgs provides messages and actions specific to Franka Emika research robots Franka Emika GmbH Apache 2.0 diff --git a/franka_robot_state_broadcaster/package.xml b/franka_robot_state_broadcaster/package.xml index e1ec8663..a332afd4 100644 --- a/franka_robot_state_broadcaster/package.xml +++ b/franka_robot_state_broadcaster/package.xml @@ -1,7 +1,7 @@ franka_robot_state_broadcaster - 0.1.0 + 0.1.1 Broadcaster to publish robot states Franka Emika GmbH Apache 2.0 diff --git a/integration_launch_testing/package.xml b/integration_launch_testing/package.xml index ba8fb9e2..19d50227 100644 --- a/integration_launch_testing/package.xml +++ b/integration_launch_testing/package.xml @@ -2,7 +2,7 @@ integration_launch_testing - 0.1.0 + 0.1.1 Functional integration tests for franka controllers Franka Emika GmbH Apache 2.0