branch for supporting legacy robots with firmware version 4

[christian-rauch]

There are still many users of the now EOL Franka Panda robots that are stuck on firmware version 4 and libfranka 0.9.

If it is not possible to support libfranka 0.9 and >= 0.10 in parallel on the humble branch, then it would alternatively be very useful to have a "legacy" branch in this upstream repo to (unofficially) support Franka robots with firmware version 4 and libfranka 0.9 with backports. The tag v0.1.0 is the last one that supports libfranka 0.9 as newer versions are requesting higher libfranka versions.

Could someone create a branch from this tag? My suggestions for naming would be legacy or fer1 for "Franka Emika Robot 1".

[christian-rauch]

@BarisYazici Can you please create a branch for the old "Franka Emika Robot 1"?

[christian-rauch]

@AndreasKuhner Can you create a branch for the FER (branched off from v0.1.0) where the community can maintain support for the old Franka robots? I don't expect Franka to provide further support, but it would be nice to have the support for the old Franka in the upstream repo.

We have a franka_ros2 fork at https://github.com/boschresearch/franka_ros2, where we maintained support for the old Frankas with a couple of fixes.

[AndreasKuhner]

Hi @christian-rauch , I don't know if we want to 'officially' have a branch for that... :thinking: I will take the topic and talk to some people :)

Cheers, Andreas