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

Iron to Jazzy

General

• A version.h file will be generated per package using the ament_generate_version_header (#1449). For example, you can include the version of the package in the logs.

  #include <controller_manager/version.h>
  ...
  RCLCPP_INFO(get_logger(), "controller_manager version: %s", CONTROLLER_MANAGER_VERSION_STR);
  

controller_interface

For details see the controller_manager section.

• Pass URDF to controllers on init (#1088).

• Pass controller manager update rate on the init of the controller interface (#1141)

• A method to get node options to setup the controller node #api-breaking (#1169)

controller_manager

• URDF is now passed to controllers on init (#1088) This should help avoiding extra legwork in controllers to get access to the /robot_description.

• Pass controller manager update rate on the init of the controller interface (#1141)

• Report inactive controllers as a diagnostics ok instead of an error (#1184)

• Set chained controller interfaces ‘available’ for activated controllers (#1098)

  • Configured chainable controller: Listed exported interfaces are unavailable and unclaimed

  • Active chainable controller (not in chained mode): Listed exported interfaces are available but unclaimed

  • Active chainable controller (in chained mode): Listed exported interfaces are available and claimed

• Try using SCHED_FIFO on any kernel (#1142)

• A method to get node options to setup the controller node was added (#1169): get_node_options can be overridden by controllers, this would make it easy for other controllers to be able to setup their own custom node options

• CM now subscribes to robot_description topic instead of ~/robot_description (#1410).

• Change the controller sorting with an approach similar to directed acyclic graphs (#1384)

• Changes from (PR #1256)

  • All joints defined in the <ros2_control>-tag have to be present in the URDF received by the controller manager, otherwise the following error is shown:

    The published robot description file (URDF) seems not to be genuine. The following error was caught: <unknown_joint> not found in URDF.

    This is to ensure that the URDF and the <ros2_control>-tag are consistent. E.g., for configuration ports use gpio interface types instead.

  • The syntax for mimic joints is changed to the official URDF specification.

    <joint name="right_finger_joint" type="prismatic">
      <axis xyz="0 1 0"/>
      <origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
      <parent link="base"/>
      <child link="finger_right"/>
      <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
    </joint>
    <joint name="left_finger_joint" type="prismatic">
      <mimic joint="right_finger_joint" multiplier="1" offset="0"/>
      <axis xyz="0 1 0"/>
      <origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
      <parent link="base"/>
      <child link="finger_left"/>
      <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
    </joint>
    

  The parameters within the ros2_control tag are not supported any more.

hardware_interface

• A portable version for string-to-double conversion was added: hardware_interface::stod (#1257)

• test_components was moved to its own package (#1325)

• The ros2_control tag now supports parsing of the limits from the URDF into the HardwareInfo structure. More conservative limits can be defined using the min and max attributes per interface (#1472)

  <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
    <hardware>
      <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
      <param name="example_param_hw_start_duration_sec">2.0</param>
      <param name="example_param_hw_stop_duration_sec">3.0</param>
      <param name="example_param_hw_slowdown">2.0</param>
    </hardware>
    <joint name="joint1">
      <command_interface name="position">
        <param name="min">-1</param>
        <param name="max">1</param>
      </command_interface>
      <command_interface name="velocity">
        <limits enable="false"/>
      </command_interface>
      <state_interface name="position"/>
    </joint>
  </ros2_control>
  

• Soft limits are also parsed from the URDF into the HardwareInfo structure for the defined joints (#1488)

joint_limits

• Add header to import limits from standard URDF definition (#1298)

ros2controlcli

• Spawner colours were added to list_controllers depending upon active or inactive (#1409)

• The set_hardware_component_state verb was added (#1248). Use the following command to set the state of a hardware component

  ros2 control set_hardware_component_state <hardware_component_name> <state>