[franka_descrpition] Inconsistent w/ ROS 1 variant - dynamics estimates?

[EricCousineau-TRI]

Relates https://www.franka-community.de/t/panda-dynamic-model/4573/3

In docs, I see the following for ROS 1 flavor: https://github.com/frankaemika/docs/blame/12fb63aa406b3e33dfc57a97ad5a5362e1ad8aad/source/franka_ros.rst#L36-L39

However, I don't see anything similar for ROS 2, at least upon examining this source tree and/or the docs https://github.com/frankaemika/docs/blob/12fb63aa406b3e33dfc57a97ad5a5362e1ad8aad/source/franka_ros2.rst

Is there a reason why ROS 2 seems to lag / be different? If so, can it be documented?

Alternatively, is it possible to add this option?

[marcbone]

As we currently do not support any simulator, we did not include the dynamics estimates. They will be included once we offer simulation support.

[AndreasKuhner]

Hi @EricCousineau-TRI , nowadays we are supporting Gazebo - so, is this problem still persisting? If yes, don't hesitate to re-open the issue :smile: