You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Kilted.

Migration Guides: Humble to Jazzy

This list summarizes important changes between Humble (previous) and Jazzy (current) releases, where changes to user code might be necessary.

gripper_action_controller

The effort_controllers/GripperActionController and position_controllers/GripperActionController will be removed. The parallel_gripper_action_controller/GripperActionController should be used instead. (#1652).

diff_drive_controller

  • The twist message on ~/cmd_vel is now required to be of stamped type (#812).

  • Parameters has_velocity_limits, has_acceleration_limits, and has_jerk_limits are removed. Instead, set the respective limits to .NAN. (#1315).

joint_trajectory_controller

  • Parameter allow_nonzero_velocity_at_trajectory_end is now per default false (#834).

  • The parameter start_with_holding is removed, it now always holds the position at activation (#839).

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

  • Empty trajectory messages are discarded (#902).

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

  • The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (#949). Remove the angle_wraparound parameter from the configuration and set continuous joint type in the URDF of the respective joint.

  • Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (#716). Adaptions to the action goal might be necessary.

  • Parameter open_loop_control is replaced by interpolate_from_desired_state and setting the feedback gains to zero (#1525).

pid_controller

  • Parameters enable_feedforward and service set_feedforward_control are deprecated. Instead, set the feedforward_gain to zero or a non-zero value. (#1553).

  • The legacy antiwindup boolean and integral clamp parameters i_clamp_max/i_clamp_min have been deprecated in favor of the new antiwindup_strategy parameter (#1585). Choose a suitable anti-windup strategy and set the parameters accordingly.

  • PID state publisher topic changed to <controller_name> namespace and is initially turned off. It can be turned on by using activate_state_publisher parameter. (#1823).

steering_controllers_library

  • front_steering parameter was removed (#1166). Now every kinematics type (bicycle, tricycle, Ackermann) has dedicated parameters for steering or traction wheels instead of front/rear wheels.

    • General: Remove front_steering and use traction_joints_names/steering_joints_names instead of rear_wheels_names/front_wheels_names, respectively.

    • bicycle_steering_controller: Set traction_wheel_radius instead of front_wheel_radius, rear_wheel_radius.

    • tricycle_steering_controller: Set traction_wheels_radius instead of front_wheels_radius, rear_wheels_radius.

    • ackermann_steering_controller: Set traction_wheels_radius instead of front_wheels_radius, rear_wheels_radius, and traction_track_width (and optionally steering_track_width, if it differs) instead of rear_wheel_track, front_wheel_track.