Release Notes: Jazzy to Kilted

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

chained_filter_controller

Multiplier support was added. Users can now specify per–axis scaling factors for both force and torque readings, applied after the existing offset logic. (#1647).
Added support for filter chains, allowing users to configure a sequence of filter plugins with their parameters. The force/torque sensor readings are filtered sequentially and published on a separate topic.
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).

IMU sensor broadcaster is now a chainable controller. It supports a calibration by means of a rotation, defined as euler angles, to its target frame. (#1833).

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)

The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior. (#1759).
Scaling support was added in #1191. With this the controller “stretches the time” with which it progresses in the trajectory. Scaling can either be set manually or it can be synchronized with the hardware. See Speed scaling for details.
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)
Added decelerate-to-stop functionality when a trajectory is canceled or preempted. Instead of immediately holding position, the controller can now smoothly decelerate each joint to a stop using the per-joint max_deceleration_on_cancel parameter. (#2163)
When using set_last_command_interface_value_as_state_on_activation, it is no longer required to have state and command for the same interface type (e.g. velocity). With this param set, the JTC state and command will be initialized using a command interface value, if available, and will otherwise fallback to the value read from the state interface. This allows you to have position command and position+velocity state, for example, which previously would have been disallowed (with this param set). (#2294)

The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior (#1585). * Output clamping via u_clamp_max and u_clamp_min was added, allowing users to bound the controller output. * 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. A tracking_time_constant parameter has also been introduced to configure the back-calculation strategy. * A new error_deadband parameter stops integration when the error is within a specified range.
PID state publisher can be turned off or on by using activate_state_publisher parameter. (#1823).
Added parameter set_current_state_as_first_setpoint (default: true) to set the current state as the first setpoint when the controller is activated, helping to avoid large initial errors and sudden jumps in control output (#2205).

New package to broadcast sensor_msgs/msg/MagneticField from state interfaces defined by the semantic_components::MagneticFieldSensor.