0.15.0

0.15.0 - 2025-01-16

Requires Franka Research 3 System Version >= 5.7.2

• Improved error minimization for joint/cartesian pose velocities and accelerations.
• Updated joint position and cartesian pose examples to start from the initial q or O_T_EE.
• Fixed joint position and cartesian pose low-pass filters to use the same command in the first package.
• Added a general logger, allowing users to implement custom loggers for receiving log messages.
• Fixed the bug that prevented exit in case of network connection interruption.

Important

• The flags fci_joint_motion_generator_position_limits_violation_flag and fci_cartesian_motion_generator_joint_position_limits_violation_flag are now always set to false and will be deprecated in future releases. They will be replaced by joint_position_limits_violation.

BREAKING

• The previous CSV robot state logger has been renamed to robot_state_logger and relocated.

0.14.2

0.14.2

0.14.1

Requires Franka Research 3 system version >= 5.7.0

• Bump libfranka-common version compatible with 5.7.0 - robot version 8
• Compute dynamic robot parameters with Pinocchio library.(M, C, G)
• Added doxygen generation
• Added package.xml

0.13.3

Requires Franka Research 3 system version >= 5.5.0

• Bump libfranka-common version compatible with 5.5.0
• Delete the temporary-workaround max-path-pose deviation. Fixed in the system image.

Hotfix: Max Path Pose Deviation Violation

0.13.2 - 2023-12-04

• Hotfix: (temporary-workaround) for max-path-pose-deviation in ExternalMode for active control.

Hotfix: External Control Mode - Max Path Pose Deviation Violation

• Temporary workaround for max path pose deviation violation in external control mode.
• Currently only supported in callback style control.
• In the future, max path pose deviation monitoring will be disabled for external control mode.

Complete ActiveControl Implementation

Requires Franka Research 3 system version >= 5.2.0

• BREAKING ActiveControl serves now as base class for ActiveTorqueControl, that implements the torque control functionality
  ActiveMotionGenerator class introduced to support external control loops for JointPositions, JointVelocities, CartesianPose and CartesianVelocities.
• Fix install common/include typo.

0.11.0 - FR3 External Control Support

Requires Franka Research 3 system version >= 5.2.0

• BREAKING Instead of using constants, velocity limits in rate-limiter are computed based on the current desired joint position.
• Allow external control loops by the introduction of the ActiveControl read-write-interface for torque-control