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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.