Question: Why does the franka_ros2 implementation offer such a reduced set of functionality?

[craig-sony]

Is there a technical reason why so little of the franka_ros1 functionality has been ported over to ros2? Why are only the effort controllers available?

Thanks and apologies if this is obvious/described elsewhere.

[andrejpan]

In the past, FE could not afford to put sufficient resources into supporting ROS 2. However, you can get more info about ROS 2 Humble port plans here.