libfranka 更新日志

0.9.0 - 2022-03-25

Requires Panda system version >= 4.2.1

  • BREAKING Add O_ddP_O base acceleration to robot state, harcoded to {0, 0, -9.81}.

  • BREAKING New base_acceleration_initialization_timeout, base_acceleration_invalid_reading .. code-block:: guess

    cartesian_spline_motion_generator_violation and joint_via_motion_generator_planning_joint_limit_violation reflexes.

  • Adjust network error messages. Distinguish between problems resulting from:

    • a wrong network configuration. A message is shown after a timeout of 60 seconds.
    • a missing FCI feature or a blocked port due to Single Point of Control. An immediate error response is shown.

  • Changed signature of franka::Model::gravity to use O_ddP_O in the robot state.

0.8.0 - 2020-04-29

Requires Panda system version >= 4.0.0

  • BREAKING Change behavior of franka::Robot::setEE. Previously, this method would set the flange-to-end-effector transformation F_T_EE. This has been split up into two transformations: F_T_NE, only settable in Desk, and NE_T_EE, which can be set in libfranka with setEE and defaults to the identity transformation.
  • Add F_T_NE and NE_T_EE to franka::RobotState.
  • Add support for the cobot pump with franka::VacuumGripper.
  • CPack: Add conflict with ros-melodic-libfranka.
  • Fix missing include for Windows (#55).

0.7.1 - 2019-07-08

Requires Panda system version >= 3.0.0

Changed

  • Fix compilation error on ARM.

0.7.0 - 2019-07-05

Requires Panda system version >= 3.0.0

Added

  • Add support for using franka::Model on Linux ARM and ARM64 (requires Panda system version >= 3.1.0).
  • Add Cartesian low-pass filter in lowpass_filter.h.
  • Add control_tools.h with helper functions for writing control loops.

Changed

  • BREAKING Rename franka::CartesianPose::hasValidElbow() to franka::CartesianPose::hasElbow().
  • BREAKING Throw std::invalid_argument in franka::Robot::control if NaN or infinity values are returned from a control callback.
  • BREAKING Throw std::invalid_argument in low-pass filter and rate limiting functions if invalid values are given as function parameters.
  • BREAKING Do not throw exceptions in constructors of control types anymore.
  • Take arguments by value in franka::MotionFinished.
  • Bug fixes in communication_test.cpp.
  • Export requirements for C++ features as CMake target compile features.

0.6.0 - 2019-02-06

Requires Panda system version >= 3.0.0

  • Added support for Ubuntu 18.04 (Bionic).
  • EXPERIMENTAL Added support for Windows.
  • Added support for using franka::Model on Linux and Windows x86 and x64.
  • Bugfix for aborting gripper commands with franka::Gripper::stop().
  • Improved documentation for franka::Robot::setCollisionBehavior.

0.5.0 - 2018-08-08

Requires Panda system version >= 1.3.0

Motion and control interfaces

  • BREAKING Added low-pass filter for all realtime interfaces with default cutoff frequency of 100 Hz
  • DEPRECATED franka::Robot::setFilters in favor of franka::lowpassFilter
  • Fixed description of log record entries

Library

  • Added lowpass_filter.h to public interface

Examples

  • Added communication_test.cpp to evaluate network performance.

0.4.0 - 2018-06-21

Requires Panda system version >= 1.3.0

Motion and control interfaces

  • BREAKING Added rate limiting of commanded values as an option in the control loop and as a helper function. Rate limiting is activated by default, this could change the behavior of existing programs. Only works when filters (franka::Robot::setFilters) are deactivated.
  • Added joint_move_in_wrong_direction error to franka::RobotState
  • Added first and second derivatives of last commanded signals to franka::RobotState

Library

  • Added rate_limiting.h to public interface
  • Removed unnecessary CMake script from installation

0.3.0 - 2018-02-22

Requires Panda system version >= 1.2.0

Motion and control interfaces

  • Added optional epsilon parameters to franka::Gripper::grasp

Examples

  • Set default collision behavior, impedances, and filter frequencies
  • Removed command line parameters to simplify usage
  • Fixed locking bug in joint_impedance_control

Library

  • BREAKING Changed signatures and added overloads in franka::Model
  • Added additional variables to installed CMake config
  • Updated SOVERSION to include minor version number
  • Added conflict with ros-kinetic-libfranka to Debian packaging
  • Minor fixes and improvements for API documentation
  • Fixed build errors on Clang 5.0
  • Fixed test errors for Poco >= 1.8.0

0.2.0 - 2018-01-29

Requires Panda system version >= 1.1.0

Motion and control interfaces

  • Improved external torque tracking behavior.
  • Fixed discontinuities in commanding orientation changes via the cartesian pose interface.
  • Added joint_p2p_insufficient_torque_for_planning, tau_j_range_violation, and instability_detected errors to franka::RobotState
  • Added tau_J_d, m_ee, F_x_Cee, I_ee, m_total, F_x_Ctotal, I_total, theta and dtheta to franka::RobotState
  • Added setFilter command to franka::Robot
  • Added support for commanding elbow positions for Cartesian motions.
  • Added stiffness frame K to franka::Model
  • BREAKING Replaced p_min and p_max of franka::VirtualWallCuboid with object_world_size

Error handling

  • WARNING Not all robot errors can be recovered using the guiding button on the robot anymore. To manually recover from such errors, please use the the Franka DESK web interface.
  • Added logs to ControlException and improved exception messages.
  • Fail earlier (by throwing exception) if any of the commanded values are NaN or infinity.

Examples

  • Added saturation to joint velocity, joint position, and joint impedance examples.
  • Changed examples to read initial states inside control loops (after controller switching).
  • Examples first move to an initial joint position.
  • Added new cartesian impedance and force control examples.
  • Lowered grasping force in grasp_object example

Library

  • BREAKING New build-time dependency on Eigen3.
  • Changed thread priority to the maximum allowed value.
  • Prepare for the removal of the socket-init in the default constructor in POCO releases >= 1.8.0.
  • Removed unnecessary public dependencies for libfranka.
  • CI: Run linter on examples
  • Docu: Use SVG instead of MathML for math rendering in API documentation to support Chrome.

0.1.0 - 2017-09-15

  • Initial release