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Changelog for package franka_description

2.6.0 (2026-03-02)

feat: adaptations for gazebo
fix: corrected accelerometer frames for fr3v1, fr3v2, fr3v2.1
fix: properly handle arm_prefixes in srdf

2.5.0 (2026-02-17)

chore: tmrv0_2 replace lidar with mounting point and add imu mounting point
fix: mounting point typo in tmrv0_2.xacro
feat: add the motor inertia and gear ratio to the urdfs of arms
fix: adaptations for async control

2.4.0 (2026-01-26)

feat: fr3_duo srdf added to franka description
feat: fr3_duo urdf now supports different arm prefixes
fix: removed olv_description_module dependency

2.3.2 (2026-01-22)

chore: renamed meshes/robot_arms > meshes/robots to support tmr v0.2

2.3.1 (2026-01-16)

feat: mobile_fr3_duo_v0_2 added to franka description

2.3.0 (2025-12-19)

feat: tmrv0_2 added to franka description
feat: arm_id replaced by robot_type
feat: pass is_async argument to franka_arm.ros2_control.xacro
feat: pass thread_priority argument to franka_arm.ros2_control.xacro
feat: bump ros2_control version to 1.0.0

2.2.0

feat: updated kinematics, meshes, inertials, materials for fr3_duo mount and cover

2.1.0 (2025-10-24)

fix: add fp3 robot joint limits
fix: group definition in SRDF file checking for right TCP
feat: add fr3v2_1 robot variant

2.0.0 (2025-08-26)

feat: migrate to ROS 2 Jazzy

1.1.0

feat: added accelerometer frames to urdfs
feat: update joint limits for fr3v2 and fr3
feat: add position based velocity limits tags to urdfs for fr3v2 and fr3

1.0.2 (2025-08-01)

fix: gazebo can be used with prefixes
fix: ee_with_one_link takes the correct arguments to allow visualization

1.0.1 (2025-07-09)

fix: cover and mount replaced by new designs

1.0.0 (2025-06-26)

breaking change: cobot pump parameters are not longer selected by default in the robot xacro
fix: urdf xacros include end-effector parameters

0.5.1 (2025-03-19)

feature: fr3 duo added to franka description
feature: Added additional command interfaces for FX3 to the URDF
feature: identify fr3v2 inertials
feature: add the version tag to ros2_control
fix: change paramater location in xacro/macro from arg to property

0.5.0 (2025-03-07)

feature: Added prefix to single robot control
fix: hand inertials fixed
feature: add srdfs for arms and hand
feature: add fr3v2 robot

0.4.0 (2024-12-11)

feature: no prefix option added
fix: use phong instead of lambert shading
fix: script create_urdf.sh needs the correct user id
feature: adding the .xacro definition for multi arm setups

0.3.0 (2024-11-27)

feature: franka_ign_ros2_control plugin for gazebo
feature: gazebo simulation joint friction and gazebo effort interface param
feature: support gazebo simulation in ros2
fix: rpy values added
fix: link0 inertials added
fix: formatting python
fix: gazebo ros2 plugin name
change: changed minor principal moment of inertia to satisfy triangle inequality
other: Update copyright date
Contributors: Andreas Kuhner, Baris Yazici, Guillermo Gomez Pena, Marius Winkelmeier

0.2.0 (2024-05-21)

feat: end-effector can be deactivated with an argument
feat: add dedicated folder for end-effectors
fix: license name in readme
Contributors: Guillermo Gomez Pena

0.1.10 (2024-04-22)

0.1.0 (2024-01-26)

Publish franka_description
Contributors: Baris Yazici, Enrico Sartori