<commit_before># CHANGELOG

## 0.8.0 - UNRELEASED

Requires `libfranka` >= 0.8.0

  * `franka_hw`, `franka_combinable_hw`, `franka_combined_hw`: Added service interface to disconnect
    and reconnect when no controller is active. This allows mixing FCI- and DESK-based application
    without stopping the according hardware nodes.
  * **BREAKING** `franka_hw`, `franka_combinable_hw` method control() now is non-const to allow
    locking a mutex member variable.
  * **BREAKING** Change behavior of `franka_msgs/SetEEFrame`. 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 `franka_ros` with `SetEEFrame`
    and defaults to the identity transformation.
  * Add `F_T_NE` and `NE_T_EE` to `franka_msgs/FrankaState`.
  * Franka Gazebo Integration
  * Extract Model Library in abstract base class interface. This allows users to implement their own model.
  * **BREAKING** Remove `panda_arm_hand.urdf.xacro`. Use `panda_arm.urdf.xacro hand:=true` instead.

## 0.7.1 - 2020-10-22

Requires `libfranka` >= 0.7.0

  * `franka_example_controllers`: Added example for dual-arm teleoperation based on `franka_combinable_hw`.
  * `franka_gripper`: Made stopping on shutdown optional.
  * `franka_hw`: Added `franka_control_services` install instruction.

## 0.7.0 - 2020-07-15

Requires `libfranka` >= 0.7.0

  * **BREAKING** moved services and action from `franka_control` to `franka_msgs`.
  * **BREAKING** moved Service container from `franka_control` to `franka_hw`.
  * `franka_example_controllers`: Added example for dual-arm control based on `franka_combinable_hw`.
  * `franka_description` :
    - Added an example urdf with two panda arms.
    - **BREAKING** Updated collision volumes.
    - Removed invalid `axis` for `joint8`.
  * `franka_hw`:
    - Added hardware classes to support torque-controlling multiple robots from one controller.
    - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
    - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.<commit_msg>CHANGE: Showcase franka_gazebo a bit more in CHANGELOG<commit_after># CHANGELOG

## 0.8.0 - UNRELEASED

Requires `libfranka` >= 0.8.0

  * `franka_hw`, `franka_combinable_hw`, `franka_combined_hw`: Added service interface to disconnect
    and reconnect when no controller is active. This allows mixing FCI- and DESK-based application
    without stopping the according hardware nodes.
  * **BREAKING** `franka_hw`, `franka_combinable_hw` method control() now is non-const to allow
    locking a mutex member variable.
  * **BREAKING** Change behavior of `franka_msgs/SetEEFrame`. 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 `franka_ros` with `SetEEFrame`
    and defaults to the identity transformation.
  * Add `F_T_NE` and `NE_T_EE` to `franka_msgs/FrankaState`.
  * _Franka Gazebo Integration_: Now you can simulate Panda robots in Gazebo including:
    * gravity compensation
    * non-realtime commands like `setEEFrame` or `setLoad`
    * gripper simulation with the _same_ action interface as `franka_gripper`
    * estimated inertias in the URDF
    * no need to change existing ROS controllers
    * only torque control supported in this version
  * Extract Model Library in abstract base class interface. This allows users to implement their own model.
  * **BREAKING** Remove `panda_arm_hand.urdf.xacro`. Use `panda_arm.urdf.xacro hand:=true` instead.

## 0.7.1 - 2020-10-22

Requires `libfranka` >= 0.7.0

  * `franka_example_controllers`: Added example for dual-arm teleoperation based on `franka_combinable_hw`.
  * `franka_gripper`: Made stopping on shutdown optional.
  * `franka_hw`: Added `franka_control_services` install instruction.

## 0.7.0 - 2020-07-15

Requires `libfranka` >= 0.7.0

  * **BREAKING** moved services and action from `franka_control` to `franka_msgs`.
  * **BREAKING** moved Service container from `franka_control` to `franka_hw`.
  * `franka_example_controllers`: Added example for dual-arm control based on `franka_combinable_hw`.
  * `franka_description` :
    - Added an example urdf with two panda arms.
    - **BREAKING** Updated collision volumes.
    - Removed invalid `axis` for `joint8`.
  * `franka_hw`:
    - Added hardware classes to support torque-controlling multiple robots from one controller.
    - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
    - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
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