Compatible versions

Compatibility with libfranka

For every robot system version there are different libfranka versions compatible. The following table provides an overview. Furthermore, the recommended Ubuntu and ROS versions are listed. It is recommended to always work with the up-to-date versions. The >= indicates, that it is not tested against newer robot system versions meaning compatibility is not guaranteed (i.e. libfranka 0.2.0 is not compatible with the robot system version 4.0.0). The robot system versions 2.x.x are not listed in the table below, but are included compatible with the robot system version >= 1.3.0. Therefore, these are compatible with the libfranka version 0.4.0 and 0.5.0. Libfranka version 0.8.0 was also tested against Ubuntu 18.04 and therefore, is compatible with ROS Melodic.

Robot system version

Robot / Gripper Server version

libfranka version

franka_ros version

Ubuntu / ROS

>= 5.2.0 (FR3)

6 / 3

0.10.0

0.10.0 and higher

20.04 / noetic

>= 4.2.1

5 / 3

0.9.1

0.8.0 and higher

20.04 / noetic

>= 4.0.0

4 / 3

0.8.0

0.8.0 and higher

20.04 / noetic

>= 3.0.0

3 / 3

0.7.1

0.7.0

18.04 / melodic

>= 1.3.0

3 / 2

0.5.0

0.6.0

16.04 / kinetic

>= 1.2.0

2 / 2

0.3.0

0.4.0

16.04 / kinetic

>= 1.1.0

2 / 1

0.2.0

Caution

Windows usage is experimental. For this, libfranka version 0.6.0 is needed and thus, a robot system version of at least 3.0.0 is needed. For usage under Windows, compatible libfranka and robot system versions are needed as specified in the table above.

Compatibility with the kernel

There are different kernels, which are compatible with different Ubuntu system versions. The following table gives an overview of recommended Kernels.

Kernel version

Ubuntu

5.9.1

20.04 (Focal Fossa)

5.4.19

18.04 (Bionic)

4.14.12

16.04 (Xenial Xerus)