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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.
Parameter publish_dynamic_joint_states is now deprecated (default changed to false). (#2107) For publishing non-standard interfaces, consider using alternatives:
- state_interfaces_broadcaster for broadcasting arbitrary state interfaces
- gpio_controllers for GPIO and custom hardware interfaces
- pal_statistics for flexible runtime statistics publishing

effort_controllers

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

joint_trajectory_controller

The default value of the constraints.goal_time parameter changed from 0.0 to 10.0 seconds and its semantics changed. Previously goal_time of 0.0 meant that the controller would wait a potentially infinite amount of time for the goal to be reached. Now, any negative goal_time (e.g. -1.0) means the controller will wait indefinitely, while 0.0 disables the grace period so the goal must be reached on time, and positive values set a finite grace period in seconds. Configurations that relied on the old default or on goal_time: 0.0 for an infinite timeout must set constraints.goal_time to a negative value (e.g. -1.0) explicitly. Note that cmd_timeout only activates when cmd_timeout > constraints.goal_time; with the new default timeout feature setups relying on cmd_timeout (e.g. to hold position at the end of the trajectory) must set constraints.goal_time accordingly. The action_execution_timeout parameter is removed.

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).