Merge pull request frankaemika#206 in SWDEV/franka_ros from fix/cmake…

…-warning to develop

* commit 'a49c878ff7969b7568450d607ddd8c0cf7450197':
  FIX: CMake warning about using `catkin_add_nosetests`

0.10.0 - 2022-09-02

Requires `libfranka` >= 0.8.0

  * `franka_example_controllers`: Normalize rotations before usage
  * `franka_example_controllers`: Extend the `teleop_joint_pd_example_controller` with markers indicating leader and follower roles + consistently use leader and follower as robot names in the example.
  * `franka_example_controllers`: Don't require MoveIt for `move_to_start.launch`
  * **BREAKING** `franka_description`: Refactor URDF files to also support FR3
  * `franka_control`: Introduce optional `robot` argument in the `franka_control.launch` launch file that chooses either the URDF for panda or fr3. This argument can also be used in the launch files of `franka_examples`. The default is "panda".

Release 0.9.1

Merge pull request frankaemika#179 in SWDEV/franka_ros from SRR-1303 …

…to develop

* commit 'ac486b845334172f446127161bfdf6e4c86c77f4':
  add date to CHANGELOG.md
  bump version to 0.9.0
  update CHANGELOG.md
  add base acceleration and new errors to robot state

bump version

0.8.1 - 2021-09-08

Requires `libfranka` >= 0.8.0

  * `franka_hw`:
    - Add `bool hasError()` member function to `FrankaCombinableHW`
    - Only execute controller update in `franka_combined_control_node` when not in error state
    - Reset command buffer upon recover in `FrankaCombinableHW`

ADD: Release Date to changelog

0.7.1 - 2020-10-22

Requires `libfranka` >= 0.7.0

  * `franka_example_controllers`: Added example for dual-arm teleoperation based on `franka_combinable_hw`.
  * `franka_gripper`: Made stopping on shutdown optional.
  * `franka_hw`: Added `franka_control_services` install instruction.

0.7.0 - 2020-07-15

Requires `libfranka` >= 0.7.0

  * **BREAKING** moved services and action from `franka_control` to `franka_msgs`.
  * **BREAKING** moved Service container from `franka_control` to `franka_hw`.
  * `franka_example_controllers` : Added example for dual-arm control based on franka_combinable_hw.
  * `franka_description` :
    - Added an example urdf with two panda arms.
    - **BREAKING** Updated collision volumes.
    - Removed invalid `axis` for `joint8`.
  * `franka_hw`:
    - Added hardware classes to support torque-controlling multiple robots from one controller.
    - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
    - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
    - Made initial collision behavior a parameter.
    - Added default constructor and init method to FrankaHW.
    - **BREAKING** moved parsing of parameters from control node to FrankaHW::init.
    - **BREAKING** made libfranka robot a member of FrankaHW.
    - Added missing return value to `franka::ControllerMode` stream operator function.
  * `franka_control`:
    - Added control node that can runs a `FrankaCombinedHW` to control mulitple Pandas.
    - Publish whole `libfranka` `franka::RobotState` in `franka_state_controller`.
  * `franka_example_controllers`:
    - Cartesian impedance example controller: Interpolate desired orientations with slerp and change orientation error
      to quaternion.
  * **BREAKING** Moved `panda_moveit_config` to [`ros-planning`](https://github.com/ros-planning/panda_moveit_config).
  * Added support for ROS Melodic Morenia.
  * Raised minimum CMake version to 3.4 to match `libfranka`.
  * Add rosparam to choose value of `franka::RealtimeConfig`.
  * Fix unused parameter bugs in `FrankaModelHandle` (frankaemika#78).
  * Added (experimental) support for ROS Noetic Ninjemys.

0.6.0 - 2018-08-08

Requires `libfranka` >= 0.5.0

  * **BREAKING** Fixes for MoveIt, improving robot performance:
    * Fixed joint velocity and acceleration limits in `joint_limits.yaml`
    * Use desired joint state for move group
  * **BREAKING** Updated joint limits in URDF
  * **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
  * **BREAKING** Start `franka_gripper_node` when giving `load_gripper:=true` to `franka_control.launch`
  * Allow to configure rate limiting, filtering and internal controller in `franka_control_node`
  * **BREAKING** `FrankaHW::FrankaHW` takes additional parameters.
  * **BREAKING** Enabled rate limiting and low-pass filtering by default (`franka_control_node.yaml`)
  * Publish desired joint state in `/joint_state_desired`
  * Removed `effort_joint_trajectory_controller` from `default_controllers.yaml`
  * Fixed a bug when switching between controllers using the same `libfranka` interface