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ROS2: bump Franka dependencies for compatibility with robot system version 5.9.x #70

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Merged
AndreasJosefGassner merged 2 commits into from
Jan 22, 2026
Merged

ROS2: bump Franka dependencies for compatibility with robot system version 5.9.x #70

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aa157c4
ROS2: bump Franka dependencies for compatibility with robot system ve…
peterrw-franka Dec 17, 2025
dd6eddf
ROS2: fix Dockerfile
peterrw-franka Jan 22, 2026
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24 changes: 8 additions & 16 deletions ros2/.devcontainer/Dockerfile
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Expand Up @@ -46,24 +46,16 @@ RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
rm -rf /tmp/rqt_reconfigure && \
rm -rf /var/lib/apt/lists/*"

# Install libfranka
ARG LIBFRANKA_VERSION=0.17.0
RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
git clone --recursive https://github.com/frankarobotics/libfranka --branch ${LIBFRANKA_VERSION} \
&& cd libfranka \
&& mkdir build \
&& cd build \
&& cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. \
&& cmake --build . -j $(nproc) \
&& cpack -G DEB \
&& dpkg -i libfranka*.deb \
&& cd ../../ && rm -r libfranka"
# Install libfranka, franka_ros2 and franka_description
# Note: The versions need to be set according to your robot's system version
# https://frankarobotics.github.io/docs/compatibility.html
ARG LIBFRANKA_VERSION=0.18.2
ARG FRANKA_ROS2_VERSION=v2.1.0
ARG FRANKA_DESCRIPTION_VERSION=1.3.0

# Install franka_ros2
ARG FRANKA_ROS2_VERSION=v2.0.4
ARG FRANKA_DESCRIPTION_VERSION=1.0.2
RUN /bin/bash -c 'source /opt/ros/humble/setup.bash && \
mkdir -p /tmp/franka_ros2 && cd /tmp/franka_ros2 && \
mkdir -p /tmp/franka_ros2 && cd /tmp/franka_ros2 && \
git clone --recursive https://github.com/frankarobotics/libfranka --branch ${LIBFRANKA_VERSION} && \
git clone --recursive https://github.com/frankarobotics/franka_ros2.git --branch ${FRANKA_ROS2_VERSION} && \
git clone --recursive https://github.com/frankarobotics/franka_description.git --branch ${FRANKA_DESCRIPTION_VERSION} && \
apt-get update && \
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3 changes: 3 additions & 0 deletions ros2/README.md
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Expand Up @@ -46,6 +46,9 @@ To start the Dev-Container, open the `ros2` sub-folder of this repository (not t

If you choose not to use the Dev-Container, please refer to the [Local Setup](#option-2-local-setup) section below for manual installation instructions.

> 💡 **Hint:**
> The Dev-Container uses specific versions of `libfranka`, `franka_ros2`, and `franka_description` that are compatible with certain robot system versions. Please ensure these versions match your robot's system version by referring to the [compatibility documentation](https://frankarobotics.github.io/docs/compatibility.html). If necessary, you can modify the version arguments in the Dockerfile to match your robot's requirements.

### Option 2: Local Setup

#### Prerequisites
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