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‎CHANGELOG.md‎

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# CHANGELOG
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## 0.10.2 - UNRELEASED
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## 0.10.3 - 2025-10-20
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Requires `libfranka` >= 0.8.0
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* docs: Move documentation under each package.
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## 0.10.2 - 2023-12-20
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Requires `libfranka` >= 0.8.0
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‎docs/index.rst‎

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franka_ros
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==========
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.. toctree::
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:maxdepth: 1
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../franka_ros/doc/index
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../franka_control/doc/index
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../franka_description/doc/index
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../franka_example_controllers/doc/index
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../franka_gazebo/doc/index
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../franka_gripper/doc/index
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../franka_hw/doc/index
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../franka_msgs/doc/index
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../franka_visualization/doc/index
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.. _write_own_controller:
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Writing your own controller
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----------------------------
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All example controllers from the :ref:`example controllers package<example_controllers>` are
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derived from the ``controller_interface::MultiInterfaceController`` class, which allows to claim
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up to four interfaces in one controller instance. The declaration of your class then looks like:
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.. code-block:: c++
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class NameOfYourControllerClass : controller_interface::MultiInterfaceController <
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my_mandatory_first_interface,
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my_possible_second_interface,
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my_possible_third_interface,
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my_possible_fourth_interface> {
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bool init (hardware_interface::RobotHW* hw, ros::NodeHandle& nh); // mandatory
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void update (const ros::Time& time, const ros::Duration& period); // mandatory
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void starting (const ros::Time& time) // optional
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void stopping (const ros::Time& time); // optional
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...
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}
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The available interfaces are described in Section :ref:`franka_hw <franka_hw>`.
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.. important::
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Note that the claimable combinations of commanding interfaces are restricted as it does not
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make sense to e.g. command joint positions and Cartesian poses simultaneously. Read-only
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interfaces like the *JointStateInterface*, the *FrankaStateInterface* or the
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*FrankaModelInterface* can always be claimed and are not subject to restrictions.
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Possible claims to command interfaces are:
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+-------------------------------------------------+----------------------------------------------+
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| ``franka_hw::FrankaHW`` | ``franka_combinable_hw::FrankaCombinableHW`` |
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+=================================================+==============================================+
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| - all possible single interface claims | - ``EffortJointInterface`` |
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| - ``EffortJointInterface`` + | - ``EffortJointInterface`` + |
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| ``PositionJointInterface`` | ``FrankaCartesianPoseInterface`` |
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| - ``EffortJointInterface`` + | - ``EffortJointInterface`` + |
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| ``VelocityJointInterface`` | ``FrankaCartesianVelocityInterface`` |
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| - ``EffortJointInterface`` + | |
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| ``FrankaCartesianPoseInterface`` | |
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| - ``EffortJointInterface`` + | |
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| ``FrankaCartesianVelocityInterface`` | |
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+-------------------------------------------------+----------------------------------------------+
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The idea behind offering the *EffortJointInterface* in combination with a motion generator
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interface is to expose the internal motion generators to the user. The calculated desired joint
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pose corresponding to a motion generator command is available in the robot state one time step
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later. One use case for this combination would be following a Cartesian trajectory using your own
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joint-level torque controller. In this case you would claim the combination *EffortJointInterface*
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+ *FrankaCartesianPoseInterface*, stream your trajectory into the *FrankaCartesianPoseInterface*,
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and compute your joint-level torque commands based on the resulting desired joint pose (q_d) from
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the robot state. This allows to use the robot's built-in inverse kinematics instead of having to
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solve it on your own.
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To implement a fully functional controller you have to implement at least the inherited virtual
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functions ``init`` and ``update``. Initializing - e.g. start poses - should be done in the
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``starting`` function as ``starting`` is called when restarting the controller, while ``init`` is
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called only once when loading the controller. The ``stopping`` method should contain shutdown
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related functionality (if needed).
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.. important::
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Always command a gentle slowdown before shutting down the controller. When using velocity
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interfaces, do not simply command zero velocity in ``stopping``. Since it might be called
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while the robot is still moving, it would be equivalent to commanding a jump in velocity
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leading to very high resulting joint-level torques. In this case it would be better to keep the
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same velocity and stop the controller than sending zeros and let the robot handle
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the slowdown.
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Your controller class must be exported correctly with ``pluginlib`` which requires adding:
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.. code-block:: c++
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#include <pluginlib/class_list_macros.h>
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// Implementation ..
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PLUGINLIB_EXPORT_CLASS(name_of_your_controller_package::NameOfYourControllerClass,
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controller_interface::ControllerBase)
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at the end of the ``.cpp`` file. In addition you need to define a ``plugin.xml`` file with the
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following content:
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.. code-block:: xml
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<library path="lib/lib<name_of_your_controller_library>">
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<class name="name_of_your_controller_package/NameOfYourControllerClass"
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type="name_of_your_controller_package::NameOfYourControllerClass"
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base_class_type="controller_interface::ControllerBase">
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<description>
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Some text to describe what your controller is doing
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</description>
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</class>
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</library>
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which is exported by adding:
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.. code-block:: xml
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<export>
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<controller_interface plugin="${prefix}/plugin.xml"/>
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</export>
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to your package.xml. Further, you need to load at least a controller name in combination with a
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controller type to the ROS parameter server. Additionally, you can include other parameters you
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need. An exemplary configuration.yaml file can look like:
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.. code-block:: yaml
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your_custom_controller_name:
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type: name_of_your_controller_package/NameOfYourControllerClass
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additional_example_parameter: 0.0
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# ..
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Now you can start your controller using the ``controller_spawner`` node from ROS control or via the
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service calls offered by the ``hardware_manager``. Just make sure that both the
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``controller_spawner`` and the ``franka_control_node`` run in the same namespace. For more details
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have a look at the controllers from the
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:ref:`franka_example_controllers package<example_controllers>` or the
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`ROS control tutorials <http://wiki.ros.org/ros_control/Tutorials>`_.

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