- CI tests in Jenkins
- joint_effort_trajectory_controller package that contains a version of the joint_trajectory_controller that can use the torque interface. See this PR
- franka_bringup package that contains various launch files to start controller examples or Moveit2
- franka_moveit_config package that contains a minimal moveit config to control the robot
- franka_example_controllers package that contains some example controllers to use
- franka_hardware package that contains a plugin to access the robot
- franka_msgs package that contains common message, service and action type definitions
- franka_description package that contains all meshes and xacro files
- franka_gripper package that offers action and service interfaces to use the Franka Hand gripper