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

Iron to Jazzy

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

diff_drive_controller

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

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.