Tags: nikhil4595/libfranka
Tags
0.5.0 - 2018-08-08 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
* 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`
* **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`.
* 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
* **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.