v1.0.0 (2025-01-22)
Requires libfranka >= 0.15.0 and franka_description >= 0.3.0 requires ROS 2 Humble
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feat: franka_example_controllers - Add a Franka Hand controller example (gripper_example_controller)
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fix: reduced acceleration discontinuities by adding new robot_time state to franka_hardware
that allows to update controllers with same time that robot uses -
refactor: Improved Docker image for development with VSCode
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BREAKING_CHANGE: initial_joint_position state removed from franka_hardware.
rename/replace functions in franka_semantic_components as follows:
- initial_cartesian_pose, initial_elbow_state
+ cartesian_pose_state, elbow_state.
- getInitialElbowConfiguration, getInitialOrientationAndTranslation, getInitialPoseMatrix
+ getCurrentElbowConfiguration, getCurrentOrientationAndTranslation, getCurrentPoseMatrix