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Release Notes: Kilted Kaiju to Lyrical Luth

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

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).

joint_trajectory_controller

• 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)