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.

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).

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.

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 and u_clamp_min was added, allowing users to bound the controller output. * The legacy antiwindup boolean and integral clamp parameters i_clamp_max/i_clamp_min have been deprecated in favor of the new antiwindup_strategy parameter. A tracking_time_constant parameter has also been introduced to configure the back-calculation strategy. * A new error_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).