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 the changes between Iron (previous) and Jazzy (current) releases.
admittance_controller
Remove
robot_description
parameter from parameter YAML, because it is not used at all (#963).
diff_drive_controller
joint_trajectory_controller
Parameter
allow_nonzero_velocity_at_trajectory_end
is now per defaultfalse
(#834).The parameter
start_with_holding
is removed, it now always holds the position at activation (#839).Continue with last trajectory-point on success, instead of hold-position from current state (#842).
Add console output for tolerance checks (#932):
[tolerances]: State tolerances failed for joint 2: [tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000 [trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds
Goals are now cancelled in
on_deactivate
transition (#962).Empty trajectory messages are discarded (#902).
Action field
error_string
is now filled with meaningful strings (#887).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).
pid_controller
🚀 The PID controller was added 🎉 (#434).
steering_controllers_library
tricycle_controller
tricycle_controller now uses generate_parameter_library (#957).