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versionLog.md

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Version Log

v1.0.0

Note: If you have an older version of the package, you may have to do a clean build of the package; several breaking changes in package.

  • Added MoveIt! and follow trajectory service support.

  • Action client and MoveIt! support for Franka Gripper.

  • Now fully compatible with PandaMoveGroupInterface and JointTrajectoryActionClient interface classes of the franka_ros_interface and panda_robot packages.

  • Several other methods from the franka_ros_interface such as move_to_joint_positions are now available for the simulator (make sure to use the newest version of the interface package).

  • Now depends on franka_ros_interface's franka_moveit subpackage as well (included in franka_ros_inteface).

  • MoveIt! and TrajectoryActionServer usage:

  • The simulator launch file panda_world.launch now accepts two additional arguments: use_custom_action_servers and start_moveit. Both are set to true by default, and have to be enabled to be able to use MoveIt! commands and any trajectory action clients (eg. JointTrajectoryActionClient). To start the simulator without MoveIt! and trajectory action client support (quicker to load), pass as argument use_custom_action_servers:=false when launching panda_world.launch. (Note: Disabling action service also disables MoveIt! support.) Note: When using launching the simulator panda_world.launch with MoveIt!, wait till you see the message You can start planning now! before accessing the simulated robot. You can ignore the following error message: 'Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames... '

  • A new demo file is added to panda_simulator_examples. This can be run using the command roslaunch panda_simulator_examples demo_moveit.launch (to disable gripper pass load_gripper:=false as argument). This loads the same demo as the demo_moveit.launch for the real robot from the franka_ros_interface's franka_moveit package. (Note: If the planning fails, uncheck and check the box next to the display named 'MotionPlanning' in RViz. This seems to be an RViz bug.)

  • Other changes:

    • Controller switching is now quicker. Removed redundant controllers and ros parameter loading.
    • Impedance controller and Trajectory controller in the controller manager (switcher) are both 'position_joint_position_controller' in the simulator.
    • Joint position controller gains tuned (very high values; unrealistic) for better trajectory control and position control.
    • Renamed demo file for clarity.
    • Now requires version of 'orocos kdl' package from source.
    • Gravity is now disabled by default for better control when using 'torque controller' and 'velocity controller'.
    • Several other bug fixes.

  • Existing/Known Issues:

    • Gravity compensation control is not good with gripper enabled (Fix: disable gravity in simulator (now done by default))

v0.9

  • Joint position, velocity, torque, gravity, gripper controllers fixed
  • Controller names specified through parameter server and config file
  • Bug in controller switching interface fixed
  • Removed redundant impedance controller support
  • Compatible with updated franka_ros_interface and panda_robot packages.