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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.

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).

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

  • 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)

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).