From 5d8c57607e9c319fa2091de2e15ff669ad5be69c Mon Sep 17 00:00:00 2001 From: Baris Yazici Date: Tue, 26 Sep 2023 22:37:40 +0200 Subject: [PATCH] hotfix: adapt to new active control from libfranka 0.12.1 --- CHANGELOG.md | 7 +++++++ Dockerfile | 2 +- franka_bringup/package.xml | 2 +- franka_description/package.xml | 2 +- franka_example_controllers/package.xml | 2 +- franka_gripper/package.xml | 2 +- franka_hardware/CMakeLists.txt | 2 +- franka_hardware/include/franka_hardware/robot.hpp | 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 +- 13 files changed, 20 insertions(+), 11 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 2c0888fe..25c054ed 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,12 @@ # Changelog +## 0.1.4 - 2023-09-26 + +Requires libfranka >= 0.12.1, required ROS 2 Humble + +* franka\_hardware: adapt to libfranka active control v0.12.1 + + ## 0.1.3 - 2023-08-24 Requires libfranka >= 0.11.0, required ROS 2 Humble diff --git a/Dockerfile b/Dockerfile index ef1e3dea..8c2233e0 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 9a9e949a85e82011e22f637a8f1e274b4dcd6e05 \ + && git checkout 0.12.1 \ && git submodule init \ && git submodule update \ && mkdir build && cd build \ diff --git a/franka_bringup/package.xml b/franka_bringup/package.xml index 377f9868..4ff42eb7 100644 --- a/franka_bringup/package.xml +++ b/franka_bringup/package.xml @@ -2,7 +2,7 @@ franka_bringup - 0.1.3 + 0.1.4 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 33bcd887..933697bd 100644 --- a/franka_description/package.xml +++ b/franka_description/package.xml @@ -2,7 +2,7 @@ franka_description - 0.1.3 + 0.1.4 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 583f7c7a..d8409259 100644 --- a/franka_example_controllers/package.xml +++ b/franka_example_controllers/package.xml @@ -2,7 +2,7 @@ franka_example_controllers - 0.1.3 + 0.1.4 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 90314a80..fa354fca 100644 --- a/franka_gripper/package.xml +++ b/franka_gripper/package.xml @@ -2,7 +2,7 @@ franka_gripper - 0.1.3 + 0.1.4 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/CMakeLists.txt b/franka_hardware/CMakeLists.txt index cbecdd94..12a4fa1b 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 0.11.0 REQUIRED) +find_package(Franka 0.12.1 REQUIRED) find_package(rclcpp_components REQUIRED) add_library(franka_hardware diff --git a/franka_hardware/include/franka_hardware/robot.hpp b/franka_hardware/include/franka_hardware/robot.hpp index 861e2bb3..bd01dc5f 100644 --- a/franka_hardware/include/franka_hardware/robot.hpp +++ b/franka_hardware/include/franka_hardware/robot.hpp @@ -23,6 +23,8 @@ #include #include +#include + #include #include #include diff --git a/franka_hardware/package.xml b/franka_hardware/package.xml index f5f70894..5c016340 100644 --- a/franka_hardware/package.xml +++ b/franka_hardware/package.xml @@ -2,7 +2,7 @@ franka_hardware - 0.1.3 + 0.1.4 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 d25a560a..408a9a39 100644 --- a/franka_moveit_config/package.xml +++ b/franka_moveit_config/package.xml @@ -2,7 +2,7 @@ franka_moveit_config - 0.1.3 + 0.1.4 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 0ed7ff6d..92427076 100644 --- a/franka_msgs/package.xml +++ b/franka_msgs/package.xml @@ -2,7 +2,7 @@ franka_msgs - 0.1.3 + 0.1.4 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 08244125..2251190d 100644 --- a/franka_robot_state_broadcaster/package.xml +++ b/franka_robot_state_broadcaster/package.xml @@ -1,7 +1,7 @@ franka_robot_state_broadcaster - 0.1.3 + 0.1.4 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 f17790c5..45f6a666 100644 --- a/integration_launch_testing/package.xml +++ b/integration_launch_testing/package.xml @@ -2,7 +2,7 @@ integration_launch_testing - 0.1.3 + 0.1.4 Functional integration tests for franka controllers Franka Emika GmbH Apache 2.0