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Flexiv ROS 1 v0.8
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@munseng-flexiv munseng-flexiv released this 08 May 06:47
· 3 commits to main since this release
v0.8
c367ca1
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Learn about vigilant mode.

COMPATABILITY

  • Flexiv robot software v2.10.5
  • Flexiv RDK v0.8

ADD

  • flexiv_controllers: Add joint impedance controller (#4).
  • flexiv_hardware: Add TCP pose and force-torque sensor state publishers.

CHANGE

  • flexiv_hardware:
    • Update enums naming of flexiv::Mode.
    • Rename topics of external TCP wrench publishers.
  • flexiv_msgs:
    • Update Mode message.
    • Remove CartesianState, CartesianVelocity and ExternalForce messages and replace them with geometry_msgs messages in RobotStates message.
  • flexiv_bringup: Remove velocity_joint_trajectory_controller and effort_joint_trajectory_controller in rizon_controllers.yaml config file.
  • Update README.

FIX

  • Fix joint torque interface bug (#3).
  • Fix MoveIt SRDF xacro bug (#6).
  • Fix joint impedance controller bug (#9).
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