franka_description package version mismatch

[Roboticshwx]

My environment is
Ubuntu 22.04;
ROS 2 Humble;
libfranka v0.14.2;
franka_ros2 v0.1.15

After I use colcon build to construct the ros2 package, I found the command:
ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true can't run
because of a inertia properties errors;

Last, I found my franka_description package version is incorrect, it shows 0.2.0 instead of 0.3.0; It should be 0.3.0 to compatibilize above version.

I solve the problem by removing the package and use git clone to clone the newest version (0.3.0), and it succeed.

Can anyone tell me why this issue happen? I am curious about that~

Thanks a lot~

[AndreasKuhner]

Hi @Roboticshwx ,
in the 'old' franka_description, we had inertia values which worked but didn't fulfill all expected metrics - so we updated them with the version 0.3.0 to also be recognized as proper inertias.

Cheers,
Andreas

[Roboticshwx]

Hi @Roboticshwx , in the 'old' franka_description, we had inertia values which worked but didn't fulfill all expected metrics - so we updated them with the version 0.3.0 to also be recognized as proper inertias.

Cheers, Andreas

Thanks for replying.
Can it be seen as a bug of franka_ros2 project.?

Because I tried several time, after colcon build of the franka_ros2. It construct a v0.2.0 franka_description, which is not compatible.

Hope your team can fix this problem.

Thanks,
hwx

[AndreasKuhner]

after colcon build of the franka_ros2. It construct a v0.2.0

Theoretically, all should be fine. Do you have the correct franka_ros2 version checked out as well as the correct franka_description version? Maybe also a clean of the install/build folder sometimes helps - colcon sometimes doesn't clean up older stuff.