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Migration Guides: Kilted Kaiju to Lyrical Luth

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

joint_state_broadcaster

Removed interfaces with other data types than double for publishing to dynamic_joint_states. (#2115). Use a custom controller for publishing non-double interfaces.

effort_controllers

effort_controllers/JointGroupEffortController is deprecated. Use forward_command_controller instead by adding the interface_name parameter and set it to effort. (#1913).

position_controllers

position_controllers/JointGroupPositionController is deprecated. Use forward_command_controller instead by adding the interface_name parameter and set it to position. (#1913).

velocity_controllers

velocity_controllers/JointGroupVelocityController is deprecated. Use forward_command_controller instead by adding the interface_name parameter and set it to velocity. (#1913).

diff_drive_controller

Instead of using tf_frame_prefix_enable:=false, set an empty tf_frame_prefix:="" parameter instead. (#1997).
For using node namespace as tf prefix: Set tf_frame_prefix:="~", where the (“~”) character is substituted with node namespace. (#1997).

mecanum_drive_controller

Instead of using tf_frame_prefix_enable:=false, set an empty tf_frame_prefix:="" parameter instead. (#1997).
For using node namespace as tf prefix: Set tf_frame_prefix:="~", where the (“~”) character is substituted with node namespace. (#1997).

omni_wheel_drive_controller

Instead of using tf_frame_prefix_enable:=false, set an empty tf_frame_prefix:="" parameter instead. (#2073).
For using node namespace as tf prefix: Set tf_frame_prefix:="~", where the (“~”) character is substituted with node namespace. (#2073).