Jazzy.rst

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):

  [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).