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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,47 +1,18 @@ | ||
| Iron to Jazzy | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| This list summarizes the changes between Iron (previous) and Jazzy (current) releases and gives hints for migration steps if necessary. | ||
| This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary. | ||
|
|
||
| admittance_controller | ||
| ************************ | ||
| * Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 <https://github.com/ros-controls/ros2_controllers/issues/963>`_). | ||
|
|
||
| diff_drive_controller | ||
| ***************************** | ||
| * The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/issues/812>`_). | ||
| * Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/issues/958>`_). | ||
|
|
||
| joint_trajectory_controller | ||
| ***************************** | ||
|
|
||
| * Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/issues/834>`_). | ||
| * Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/issues/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/issues/849>`_). | ||
| * The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/issues/839>`_). | ||
| * Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_). | ||
| * Fix floating point comparison of velocity tolerance (`#879 <https://github.com/ros-controls/ros2_controllers/issues/879>`_). | ||
| * Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/issues/932>`_): | ||
|
|
||
| .. code:: | ||
| [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 <https://github.com/ros-controls/ros2_controllers/issues/962>`_). | ||
| * Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/issues/902>`_). | ||
| * Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/issues/887>`_). | ||
| * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/issues/796>`_). | ||
| * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/issues/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint. | ||
|
|
||
| pid_controller | ||
| ************************ | ||
| * 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/issues/434>`_). | ||
|
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||
| steering_controllers_library | ||
| ******************************** | ||
| * Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/issues/927>`_). | ||
| * A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/issues/921>`_). | ||
|
|
||
| tricycle_controller | ||
| ************************ | ||
| * tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/issues/957>`_). |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| Iron to Jazzy | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| This list summarizes the changes between Iron (previous) and Jazzy (current) releases. | ||
|
|
||
| admittance_controller | ||
| ************************ | ||
| * Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 <https://github.com/ros-controls/ros2_controllers/issues/963>`_). | ||
|
|
||
| diff_drive_controller | ||
| ***************************** | ||
| * The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/issues/812>`_). | ||
| * Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/issues/958>`_). | ||
|
|
||
| joint_trajectory_controller | ||
| ***************************** | ||
|
|
||
| * Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/issues/834>`_). | ||
| * Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/issues/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/issues/849>`_). | ||
| * The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/issues/839>`_). | ||
| * Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_). | ||
| * Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/issues/932>`_): | ||
|
|
||
| .. code:: | ||
| [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 <https://github.com/ros-controls/ros2_controllers/issues/962>`_). | ||
| * Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/issues/902>`_). | ||
| * Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/issues/887>`_). | ||
| * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/issues/796>`_). | ||
| * The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/issues/949>`_). | ||
|
|
||
| pid_controller | ||
| ************************ | ||
| * 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/issues/434>`_). | ||
|
|
||
| steering_controllers_library | ||
| ******************************** | ||
| * Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/issues/927>`_). | ||
| * A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/issues/921>`_). | ||
|
|
||
| tricycle_controller | ||
| ************************ | ||
| * tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/issues/957>`_). |