libfranka client library

This documentation should help you to get started with libfranka. For a quick check on compatibility with the Robot System Version, head over to Software Versions Compatibility.

libfranka is a C++ library that allows you to control a Franka robot from a remote computer. The library is open-source and can be found on GitHub.

Contents:

• Compatibility: libfranka
• Overview
• Getting Started
• Library Architecture
• Minimum system and network requirements
• Build / Installation
• Setting up the Real-Time Kernel
• Setting Up the Robot System and Network for FCI
• Usage Examples
• API References
• Migration Notes

ChangeLog

# CHANGELOG

All notable changes to libfranka in this file.


## [0.21.3]
- fix: `ActiveControl` destructor no longer lets exceptions (e.g. `NetworkException` from `cancelMotion()` on an already-interrupted TCP connection) escape, which previously called `std::terminate()` and crashed the process after an error/reflex interrupted a motion (notably via pylibfranka).
### pylibfranka - Python
- fix: TargetStatus enum pybind added.
- Ship PEP 561 type stubs (`.pyi`) generated with `pybind11-stubgen` as a post-build step, bundled in the wheels together with a `py.typed` marker for LSP/IDE type hints.
- Move the Python packaging (`setup.py`, `pyproject.toml`, `setup.cfg`, `requirements.txt`) and the importable package into the `pylibfranka/` subproject folder so the repo root stays C++-only; no change to the built wheel contents or public API.

## [0.21.2]
- fix broken test on builds relying on poco 1.12.x
- docu: Maintenance work on documentation

## [0.21.1]
### libfranka - C++
- Fix package version

## [0.21.0]
### libfranka - C++
- Add `franka::MobileModel` class for mobile robot forward kinematics (swerve drive module poses via Pinocchio).
- `franka::Model` now rejects mobile robot URDFs with a `ModelException`; use `franka::MobileModel` instead.
- `Robot::loadModel()` throws `InvalidOperationException` for mobile robots; use `Robot::getRobotModel()` with `MobileModel` directly.
- chore: disabled test building by default

## [0.20.5]
### libfranka - C++
- fix: Sometimes the PTP motion could get stuck in 'idle' after reaching the goal while doing async PTP motions
- feat: updated cmake_minimum_required to v3.16
- fix: jenkins pipeline updated for internal usage
- fix: removed `franka/robot_model.h` header for pinocchio dependency leak in public interface.

## [0.20.4]
### libfranka - C++
- fix: valgrind will not report as error reachable-type memleaks from gtest (see https://github.com/google/googletest/issues/4109)
- fix: patch segfault in case active control has been resetted by someone else (see franka_hardware)
- feat: do not pick git tag if not a git repo, fallback to cmakelists version, cleanup link dependencies

Full Libfranka CHANGELOG is available on GitHub.