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

Release Notes: Kilted Kaiju to Lyrical Luth

This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.

battery_state_broadcaster

  • πŸš€ The battery_state_broadcaster was added πŸŽ‰ (#1888).

state_interfaces_broadcaster

  • πŸš€ The state_interfaces_broadcaster was added πŸŽ‰ (#2006).

force_torque_sensor_broadcaster

  • Added support for transforming Wrench messages to a given list of target frames. This is useful when applications need force/torque data in their preferred coordinate frames. (#2021).

diff_drive_controller

  • Parameter tf_frame_prefix_enable got deprecated and will be removed in a future release (#1997).

  • Now any tilde (β€œ~”) character in tf_frame_prefix is substituted with node namespace. (#1997).

  • Set odometry service added to be used at runtime. (#2096).

  • Removed deprecated parameter publish_rate and associated rate-limiting logic. (#2259).

mecanum_drive_controller

  • Parameter tf_frame_prefix_enable got deprecated and will be removed in a future release (#2063).

  • Now any tilde (β€œ~”) character in tf_frame_prefix is substituted with node namespace. (#2063).

  • Set odometry service added to be used at runtime. (#2110).

joint_state_broadcaster

  • Make all parameters read-only (the never got re-evaluated after initialization anyways). (#2064)

  • Added parameter publish_dynamic_joint_states to enable/disable publishing of dynamic joint states. (#2064)

  • Removed interfaces with other data types than double for publishing to dynamic_joint_states. (#2115)

  • Parameter publish_dynamic_joint_states is now deprecated (default changed to false).

omni_wheel_drive_controller

  • Parameter tf_frame_prefix_enable got deprecated and will be removed in a future release (#2073).

  • Now any tilde (β€œ~”) character in tf_frame_prefix is substituted with node namespace. (#2073).

  • Set odometry service added to be used at runtime. (#2148).

joint_trajectory_controller

  • When using set_last_command_interface_value_as_state_on_activation, it is no longer required to have state and command for the same interface type (e.g. velocity). With this param set, the JTC state and command will be initialized using a command interface value, if available, and will otherwise fallback to the value read from the state interface. This allows you to have position command and position+velocity state, for example, which previously would have been disallowed (with this param set). (#2294)

  • Fill in 0 velocities and accelerations into point before trajectories if the state interfaces don’t contain velocity / acceleration information, but the trajectory does. This way, the segment up to the first waypoint will use the same interpolation as the rest of the trajectory. (#2043)

  • Added decelerate-to-stop functionality when a trajectory is canceled or preempted. Instead of immediately holding position, the controller can now smoothly decelerate each joint to a stop using the per-joint max_deceleration_on_cancel parameter. (#2163)

  • Fixed the final segment of every trajectory being cut short: the next-cycle lookahead sample advanced the shared segment search cursor to the end, so the following cycle jumped the reference to the last waypoint and succeeded the goal early. Independent of allow_trajectory_replacement. (#2419)

  • Ported the ROS 1 trajectory-replacement behavior via the allow_trajectory_replacement parameter. A trajectory arriving while another is executing is spliced into the active one instead of discarding it: the old path is followed up to the new start time, a velocity-continuous bridge is sampled at the handoff, and joints omitted from a partial goal continue and finish their original motion. (#2419)

pid_controller

  • Added parameter set_current_state_as_first_setpoint (default: true) to set the current state as the first setpoint when the controller is activated, helping to avoid large initial errors and sudden jumps in control output.

steering_controllers_library

  • Parameter tf_frame_prefix added with the similar functionality to other controllers. (#2080).

  • Set odometry service added to be used at runtime. (#2244).

magnetometer_broadcaster

New package to broadcast sensor_msgs/msg/MagneticField from state interfaces defined by the semantic_components::MagneticFieldSensor.