You're reading the documentation for a development version. For the latest released version, please have a look at Jazzy.
Release Notes: Iron to Jazzy
This list summarizes the changes between Iron (previous) and Jazzy (current) releases.
admittance_controller
diff_drive_controller
joint_trajectory_controller
Parameter
allow_nonzero_velocity_at_trajectory_end
is now per defaultfalse
(#834).The parameter
start_with_holding
is removed, it now always holds the position at activation (#839).Continue with last trajectory-point on success, instead of hold-position from current state (#842).
Add console output for tolerance checks (#932):
[tolerances]: State tolerances failed for joint 2: [tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000 [trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds
Goals are now cancelled in
on_deactivate
transition (#962).Empty trajectory messages are discarded (#902).
Action field
error_string
is now filled with meaningful strings (#887).Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (#796).
The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (#949).
angle_wraparound
parameter was completely removed.Tolerances sent with the action goal are now processed and used for the action. (#716). For details, see the JointTolerance message:
The tolerances specify the amount the position, velocity, and accelerations can vary from the setpoints. For example, in the case of trajectory control, when the actual position varies beyond (desired position + position tolerance), the trajectory goal may abort. There are two special values for tolerances: * 0 - The tolerance is unspecified and will remain at whatever the default is * -1 - The tolerance is "erased". If there was a default, the joint will be allowed to move without restriction.
Add the boolean parameter
set_last_command_interface_value_as_state_on_activation
. When set totrue
, the last command interface value is used as both the current state and the last commanded state upon activation. When set tofalse
, the current state is used for both (#1231).
mecanum_drive_controller
🚀 The mecanum_drive_controller was added 🎉 (#512).
pid_controller
🚀 The PID controller was added 🎉 (#434).
steering_controllers_library
tricycle_controller
tricycle_controller now uses generate_parameter_library (#957).
gpio_controllers
The GPIO command controller was added 🎉 (#1251).