Migration Guides: Jazzy to Kilted

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

GripperActionController

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

diff_drive_controller

• Parameters has_velocity_limits, has_acceleration_limits, and has_jerk_limits are removed. Instead, set the respective limits to .NAN. (#1653).

pid_controller

• Parameters enable_feedforward and service set_feedforward_control are removed. 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).