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Release Notes: Galactic to Humble

This list summarizes the changes between Galactic (previous) and Humble (current) releases. Bugfixes are not included in this list.

Note

This list was created in July 2024, earlier changes may not be included.

controller_interface

The new PoseSensor semantic component provides a standard interface for hardware providing cartesian poses (#1775)

controller_manager

ros2_control_node can now handle the sim time used by different simulators, when use_sim_time is set to true (#1810).
The ros2_control_node node now accepts the thread_priority parameter to set the scheduler priority of the controller_manager’s RT thread (#1820).
Added support for the wildcard entries for the controller configuration files (#1724).
The ros2_control_node node has a new lock_memory parameter to lock memory at startup to physical RAM in order to avoid page faults (#1822).
The ros2_control_node node has a new cpu_affinity parameter to bind the process to a specific CPU core. By default, this is not enabled. (#1852).
--switch-timeout was added as parameter to the helper scripts spawner.py and unspawner.py. Useful if controllers cannot be switched immediately, e.g., paused simulations at startup (#1790).
The spawner now supports parsing multiple -p or --param-file arguments, this should help in loading multiple parameter files for a controller or for multiple controllers (#1805).
The --service-call-timeout was added as parameter to the helper scripts spawner.py. Useful when the CPU load is high at startup and the service call does not return immediately (#1808).
A python module test_utils was added to the controller_manager package to help with integration testing (#1955).
The cpu_affinity parameter can now be of type int or int_array to bind the process to a specific CPU core or multiple CPU cores. (#1915).