Releases: epfl-lasa/franka-lightweight-interface
Version 3.1
Version 3.0
Franka Lightweight Interface version 3.0
Version 3.0 is now using the ZMQ library from network-interfaces to encode and send state and command data over the ZMQ network.
Breaking changes
The headers in frankalwi_proto have been deleted and the protocol is fully defined by the headers in network_interfaces.
Version 2.0
Franka Lightweight Interface version 2.0
Version 2.0 is now using state_representation and clproto from control libraries to encode and send state and command data over the ZMQ network.
Breaking changes
The header franka_lwi_communication_protocol.h defining the protocol previously has been deleted and replaced by frankalwi_network.h and frankalwi_proto.h, using clproto.
Version 1.1
Franka Lightweight Interface version 1.1
A lightweight interface to connect to the Franka Panda Emika robot, receive its state and send torques commands to the internal controller. It is made to be system agnostic (not relying on a ROS installation) and uses a ZMQ based communication process. The internal controller is a simple control loop that broadcasts the robot state and forwards the commanded torque to the robot.
The communication is based on the frankalwi::proto protocol in include/franka_lightweight_interface/franka_lwi_communication_protocol.h. The user will have to use the same protocol to communicate with the interface.