You're reading the documentation for a development version. For the latest released version, please have a look at Jazzy.

Release Notes: Jazzy to Kilted

This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.

controller_manager

The default strictness of the switch_controllers can now we be chosen using ROS 2 parameters. The default behaviour is still left to BEST_EFFORT (#2168).
Parameter shutdown_on_initial_state_failure was added to avoid shutting down on hardware initial state failure (#2230).
The controller manager now publishes ~/statistics/names and ~/statistics/values topics to introspect the execution time and periodicity of the different entities running in the realtime loop (#2449).

The prepare_command_mode_switch and perform_command_mode_switch methods will now only receive the start/stop interfaces that belong to the hardware component instead of everything (#2120)

The CLI verbs list_hardware_components and list_hardware_interfaces will now show the data type used by the internal Command and State interfaces (#2204).