diff --git a/doc/migration/Jazzy.rst b/doc/migration/Jazzy.rst new file mode 100644 index 0000000000..72e6a52e6d --- /dev/null +++ b/doc/migration/Jazzy.rst @@ -0,0 +1,20 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration/Jazzy.rst + +Iron to Jazzy +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary. + + +diff_drive_controller +***************************** +* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 `_). + +joint_trajectory_controller +***************************** + +* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 `_). +* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 `_). +* Goals are now cancelled in ``on_deactivate`` transition (`#962 `_). +* Empty trajectory messages are discarded (`#902 `_). +* 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 `_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint. diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes/Jazzy.rst new file mode 100644 index 0000000000..8ecac3508f --- /dev/null +++ b/doc/release_notes/Jazzy.rst @@ -0,0 +1,48 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes/Jazzy.rst + +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 `_). + +diff_drive_controller +***************************** +* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 `_). +* Remove unused parameter ``wheels_per_side`` (`#958 `_). + +joint_trajectory_controller +***************************** + +* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 `_). +* Activate update of dynamic parameters (`#761 `_ and `#849 `_). +* 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 `_): + + .. 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 `_). +* 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 `_). + +pid_controller +************************ +* 🚀 The PID controller was added 🎉 (`#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 `_). +* A fix for Ackermann steering odometry was added (`#921 `_). + +tricycle_controller +************************ +* tricycle_controller now uses generate_parameter_library (`#957 `_).