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branch for supporting legacy robots with firmware version 4 #49

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christian-rauch opened this issue Feb 8, 2024 · 3 comments
Open

branch for supporting legacy robots with firmware version 4 #49

christian-rauch opened this issue Feb 8, 2024 · 3 comments

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@christian-rauch
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There are still many users of the now EOL Franka Panda robots that are stuck on firmware version 4 and libfranka 0.9.

If it is not possible to support libfranka 0.9 and >= 0.10 in parallel on the humble branch, then it would alternatively be very useful to have a "legacy" branch in this upstream repo to (unofficially) support Franka robots with firmware version 4 and libfranka 0.9 with backports. The tag v0.1.0 is the last one that supports libfranka 0.9 as newer versions are requesting higher libfranka versions.

Could someone create a branch from this tag? My suggestions for naming would be legacy or fer1 for "Franka Emika Robot 1".
peterdavidfagan pushed a commit to peterdavidfagan/franka_ros2 that referenced this issue Apr 1, 2024
@AndreasKuhner
Merge pull request frankaemika#49 in SRR/franka_ros2 from PRCUN-2201-…
958eeb7 
…align-msg-types-to-ros-types to humble

* commit '64a3878a1f924e21f9822803ca173a1d82c4fa2c':
  refactor: Moved more of the assign functionality into functions
  refactor: Reverted to change to use twist -> now using Eigen::Vector3
  test: Added a unit test for the frame setting
  refactor: Replaced the Cartesian velocity commands with twist
  refactor: Adapted the franka robot state to publish with ROS 2 types
@christian-rauch christian-rauch mentioned this issue Aug 17, 2024
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@christian-rauch
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@BarisYazici Can you please create a branch for the old "Franka Emika Robot 1"?

@christian-rauch
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@AndreasKuhner Can you create a branch for the FER (branched off from v0.1.0) where the community can maintain support for the old Franka robots? I don't expect Franka to provide further support, but it would be nice to have the support for the old Franka in the upstream repo.

We have a franka_ros2 fork at https://github.com/boschresearch/franka_ros2, where we maintained support for the old Frankas with a couple of fixes.

@AndreasKuhner
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Hi @christian-rauch ,
I don't know if we want to 'officially' have a branch for that... 🤔 I will take the topic and talk to some people :)

Cheers,
Andreas

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@christian-rauch @AndreasKuhner