From cd71c1b49d7b56ed2ebd43210094e8aed23f8ff5 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Fri, 14 Nov 2025 12:26:11 +0000 Subject: [PATCH] Reset the migration and release notes --- doc/migration.rst | 20 +++----------------- doc/release_notes.rst | 42 +++--------------------------------------- 2 files changed, 6 insertions(+), 56 deletions(-) diff --git a/doc/migration.rst b/doc/migration.rst index 72de6cabb0..6b0875f73d 100644 --- a/doc/migration.rst +++ b/doc/migration.rst @@ -1,20 +1,6 @@ :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst -Migration Guides: Jazzy to Kilted -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary. +Migration Guides: Kilted Kaiju to Lyrical Luth +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -GripperActionController -***************************** -The ``effort_controllers/GripperActionController`` and ``position_controllers/GripperActionController`` have been removed. The ``parallel_gripper_action_controller/GripperActionController`` should be used instead. `(#1652 `__). - -diff_drive_controller -***************************** -* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1653 `_). - -pid_controller -***************************** -* Parameters ``enable_feedforward`` and service ``set_feedforward_control`` are removed. Instead, set the feedforward_gain to zero or a non-zero value. (`#1553 `_). -* The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have - been deprecated in favor of the new ``antiwindup_strategy`` parameter (`#1585 `__). Choose a suitable anti-windup strategy and set the parameters accordingly. -* PID state publisher topic changed to ```` namespace and is initially turned off. It can be turned on by using ``activate_state_publisher`` parameter. (`#1823 `_). +This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases, where changes to user code might be necessary. diff --git a/doc/release_notes.rst b/doc/release_notes.rst index 2f9ae8ebab..8622620620 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -1,42 +1,6 @@ :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst -Release Notes: Jazzy to Kilted -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This list summarizes the changes between Jazzy (previous) and Kilted (current) releases. +Release Notes: Kilted Kaiju to Lyrical Luth +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -chained_filter_controller -******************************* -* The chained_filter_controller was added to use generic filter plugins (`#1634 `__). - -force_torque_sensor_broadcaster -******************************* -* Multiplier support was added. Users can now specify per–axis scaling factors for both force and torque readings, applied after the existing offset logic. (`#1647 `__). -* Added support for filter chains, allowing users to configure a sequence of filter plugins with their parameters. The force/torque sensor readings are filtered sequentially and published on a separate topic. - -imu_sensor_broadcaster -******************************* -* IMU sensor broadcaster is now a chainable controller. It supports a calibration by means of a rotation, defined as euler angles, to its target frame. (`#1833 `__). - -joint_trajectory_controller -******************************* -* The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior. (`#1759 `__). -* Scaling support was added in `#1191 - `__. With this the controller - "stretches the time" with which it progresses in the trajectory. Scaling can either be set - manually or it can be synchronized with the hardware. See :ref:`jtc_speed_scaling` for details. - -omni_wheel_drive_controller -********************************* -* πŸš€ The omni_wheel_drive_controller was added πŸŽ‰ (`#1535 `_). - -pid_controller -******************************* -* The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior (`#1585 `__). - * Output clamping via ``u_clamp_max`` and ``u_clamp_min`` was added, allowing users to bound the controller output. - * The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have been deprecated in favor of the new ``antiwindup_strategy`` parameter. A ``tracking_time_constant`` parameter has also been introduced to configure the back-calculation strategy. - * A new ``error_deadband`` parameter stops integration when the error is within a specified range. -* PID state publisher can be turned off or on by using ``activate_state_publisher`` parameter. (`#1823 `_). - -motion_primitives_forward_controller -******************************************* -* πŸš€ The motion_primitives_forward_controller was added πŸŽ‰ (`#1636 `_). +This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.