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Release Notes: Humble to Iron

This list summarizes the changes between Humble (previous) and Iron (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

For details see the controller_manager section.

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).