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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.

diff_drive_controller

  • Remove unused parameter wheels_per_side (#958).

joint_state_broadcaster

  • Make all parameters read-only (the never got re-evaluated after initialization anyways). (#2064)

  • Added parameter publish_dynamic_joint_states to enable/disable publishing of dynamic joint states. (#2064)

joint_trajectory_controller

  • Activate update of dynamic parameters (#761 and #849).

  • Continue with last trajectory-point on success, instead of hold-position from current state (#842).

  • Add console output for tolerance checks (#932):

    [tolerances]: State tolerances failed for joint 2:
[tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000
[trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds

  • Goals are now cancelled in on_deactivate transition (#962).

  • Empty trajectory messages are discarded (#902).

  • Action field error_string is now filled with meaningful strings (#887).

  • Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (#796).

  • Tolerances sent with the action goal are now processed and used for the action. (#716). For details, see the JointTolerance message:

    The tolerances specify the amount the position, velocity, and
accelerations can vary from the setpoints.  For example, in the case
of trajectory control, when the actual position varies beyond
(desired position + position tolerance), the trajectory goal may
abort.

There are two special values for tolerances:
 * 0 - The tolerance is unspecified and will remain at whatever the default is
 * -1 - The tolerance is "erased".  If there was a default, the joint will be
        allowed to move without restriction.

  • Add the boolean parameter set_last_command_interface_value_as_state_on_activation. When set to true, the last command interface value is used as both the current state and the last commanded state upon activation. When set to false, the current state is used for both (#1231).

  • Fill in 0 velocities and accelerations into point before trajectories if the state interfaces don’t contain velocity / acceleration information, but the trajectory does. This way, the segment up to the first waypoint will use the same interpolation as the rest of the trajectory. (#2043)

mecanum_drive_controller

  • 🚀 The mecanum_drive_controller was added 🎉 (#512).

pid_controller

  • 🚀 The PID controller was added 🎉 (#434).

steering_controllers_library

  • Changing default int values to double in steering controller’s yaml file. The controllers should now initialize successfully without specifying these parameters (#927).

  • New parameter reduce_wheel_speed_until_steering_reached was added. If set to true, then the wheel speed(s) is reduced until the steering angle has been reached. Only considered if open_loop = false (#1314).

  • Do not reset the steering wheels to 0.0 on timeout (#1289).

gpio_controllers

  • The GPIO command controller was added 🎉 (#1251).

force_torque_sensor_broadcaster

  • Added support for transforming Wrench messages to a given list of target frames. This is useful when applications need force/torque data in their preferred coordinate frames. (#2021).