fix: required min. libfranka version

frankaemika · Jun 27, 2024 · d3d0fb4 · d3d0fb4
1 parent 9969c3f
commit d3d0fb4
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git 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
@@ -6,6 +6,7 @@
     <description>
       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.
     </description>
   </class>
 </library>
diff --git 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
@@ -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