You're reading the documentation for a development version. For the latest released version, please have a look at Jazzy.
Release Notes: Jazzy to Kilted
This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.
chained_filter_controller
The chained_filter_controller was added to use generic filter plugins (#1634).
force_torque_sensor_broadcaster
Multiplier support was added. Users can now specify per–axis scaling factors for both force and torque readings, applied after the existing offset logic. (#1647).
Added support for filter chains, allowing users to configure a sequence of filter plugins with their parameters. The force/torque sensor readings are filtered sequentially and published on a separate topic.
imu_sensor_broadcaster
IMU sensor broadcaster is now a chainable controller. It supports a calibration by means of a rotation, defined as euler angles, to its target frame. (#1833).
joint_trajectory_controller
The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior. (#1759).
Scaling support was added in #1191. With this the controller “stretches the time” with which it progresses in the trajectory. Scaling can either be set manually or it can be synchronized with the hardware. See Speed scaling for details.
omni_wheel_drive_controller
🚀 The omni_wheel_drive_controller was added 🎉 (#1535).
pid_controller
The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior (#1585). * Output clamping via
u_clamp_max
andu_clamp_min
was added, allowing users to bound the controller output. * The legacyantiwindup
boolean and integral clamp parametersi_clamp_max
/i_clamp_min
have been deprecated in favor of the newantiwindup_strategy
parameter. Atracking_time_constant
parameter has also been introduced to configure the back-calculation strategy. * A newerror_deadband
parameter stops integration when the error is within a specified range.PID state publisher can be turned off or on by using
activate_state_publisher
parameter. (#1823).
motion_primitives_forward_controller
🚀 The motion_primitives_forward_controller was added 🎉 (#1636).