From d3d0fb4ca3d5beb8264ba71dab27b3c364ab1c31 Mon Sep 17 00:00:00 2001 From: Baris Yazici Date: Thu, 27 Jun 2024 10:51:41 +0200 Subject: [PATCH] fix: required min. libfranka version --- CHANGELOG.md | 15 +++++++-------- .../ign_hardware_plugins.xml | 1 + franka_gripper/CMakeLists.txt | 2 +- franka_hardware/CMakeLists.txt | 2 +- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4c4b968d..52e7e5e1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,19 +2,18 @@ ## 0.1.15 - 2024-06-21 -Requires libfranka >= 0.13.4 and franka_description >= 0.3.0 requires ROS 2 Humble +Requires libfranka >= 0.13.2 and franka_description >= 0.3.0 requires ROS 2 Humble * franka\_gazebo\_bringup: Released and supports joint position, velocity and effort commands * franka\_ign\_ros2\_control: ROS 2 hardware interface for gazebo controller. Modified to add gravity torques for Franka robots. ## 0.1.14 - 2024-05-13 -Requires libfranka >= 0.13.4, requires ROS 2 Humble +Requires libfranka >= 0.13.2, and franka_description >= 0.2.0 requires ROS 2 Humble -* add pinocchio dependency to franka_hardware and franka_gripper -* install pinocchio in .devcontainer -* feature: Added error recovery action to ros 2 node -* removed: hardcoded panda robot references +* devcontainer: install pinocchio dependency from ros-humble-pinocchio apt package +* feature: Added error recovery action to ROS 2 node +* removed: hard-coded panda robot references * removed: franka_description package * using the franka_description standalone package https://github.com/frankaemika/franka_description * franka_hardware prefixes the robot_state and robot model state interfaces with the read robot name from the urdf. @@ -23,8 +22,8 @@ Requires libfranka >= 0.13.4, requires ROS 2 Humble Requires libfranka >= 0.13.2, requires ROS 2 Humble -* update libfranka dependency on devcontainer to 0.13.3(requires system image 5.5.0) -* fix .devcontainer typo +* update libfranka dependency in devcontainer to 0.13.3(requires system image 5.5.0) +* fix devcontainer typo ## 0.1.12 - 2024-01-12 diff --git a/franka_gazebo/franka_ign_ros2_control/ign_hardware_plugins.xml b/franka_gazebo/franka_ign_ros2_control/ign_hardware_plugins.xml index 0a9d2ccc..439f46b2 100644 --- a/franka_gazebo/franka_ign_ros2_control/ign_hardware_plugins.xml +++ b/franka_gazebo/franka_ign_ros2_control/ign_hardware_plugins.xml @@ -6,6 +6,7 @@ Gazebo joint interface for position, velocity and effort control. The effort interface includes the gravity torques added to the commanded torques. + Supporting state interface reading for each joint; position, velocity and effort. diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt index 0cc97a97..3bc220df 100644 --- a/franka_gripper/CMakeLists.txt +++ b/franka_gripper/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(std_srvs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(control_msgs REQUIRED) -find_package(Franka 0.13.3 REQUIRED) +find_package(Franka 0.13.2 REQUIRED) add_library(gripper_server SHARED src/gripper_action_server.cpp) diff --git a/franka_hardware/CMakeLists.txt b/franka_hardware/CMakeLists.txt index b7b86445..93e00db1 100644 --- a/franka_hardware/CMakeLists.txt +++ b/franka_hardware/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(rclcpp_action REQUIRED) find_package(franka_msgs REQUIRED) find_package(hardware_interface REQUIRED) find_package(pluginlib REQUIRED) -find_package(Franka 0.13.3 REQUIRED) +find_package(Franka 0.13.2 REQUIRED) find_package(rclcpp_components REQUIRED) add_library(franka_hardware SHARED