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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>ackermann_steering_controller</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description> | ||
<license>Apache License 2.0</license> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>admittance_controller</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Implementation of admittance controllers for different input and output interface.</description> | ||
<maintainer email="[email protected]">Denis Štogl</maintainer> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>bicycle_steering_controller</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description> | ||
<license>Apache License 2.0</license> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
|
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<?xml version="1.0"?> | ||
<package format="3"> | ||
<name>diff_drive_controller</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Controller for a differential drive mobile base.</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
<maintainer email="[email protected]">Jordan Palacios</maintainer> | ||
|
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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst | ||
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Migration Guides: Galactic to Humble | ||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
This list summarizes important changes between Galactic (previous) and Humble (current) releases, where changes to user code might be necessary. | ||
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.. note:: | ||
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This list was created in July 2024, earlier changes are not included. | ||
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joint_trajectory_controller | ||
***************************** | ||
* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary. |
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:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst | ||
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Release Notes: Galactic to Humble | ||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
This list summarizes the changes between Galactic (previous) and Humble (current) releases. Bugfixes are not included in this list. | ||
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.. note:: | ||
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This list was created in July 2024, earlier changes may not be included. | ||
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diff_drive_controller | ||
***************************** | ||
* Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/pull/958>`_). | ||
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joint_trajectory_controller | ||
***************************** | ||
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* Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/pull/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/pull/849>`_). | ||
* Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/pull/842>`_). | ||
* Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/pull/932>`_): | ||
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.. 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/pull/962>`_). | ||
* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_). | ||
* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/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/pull/796>`_). | ||
* Tolerances sent with the action goal are now processed and used for the action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). For details, see the `JointTolerance message <https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg>`_: | ||
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.. code-block:: markdown | ||
The tolerances specify the amount the position, velocity, and | ||
accelerations can vary from the setpoints. For example, in the case | ||
of trajectory control, when the actual position varies beyond | ||
(desired position + position tolerance), the trajectory goal may | ||
abort. | ||
There are two special values for tolerances: | ||
* 0 - The tolerance is unspecified and will remain at whatever the default is | ||
* -1 - The tolerance is "erased". If there was a default, the joint will be | ||
allowed to move without restriction. | ||
pid_controller | ||
************************ | ||
* 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/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/pull/927>`_). |
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<?xml version="1.0"?> | ||
<package format="3"> | ||
<name>effort_controllers</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Generic controller for forwarding commands.</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
<maintainer email="[email protected]">Jordan Palacios</maintainer> | ||
|
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>force_torque_sensor_broadcaster</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Controller to publish state of force-torque sensors.</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
<maintainer email="[email protected]">Denis Štogl</maintainer> | ||
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<?xml version="1.0"?> | ||
<package format="3"> | ||
<name>forward_command_controller</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>Generic controller for forwarding commands.</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
<maintainer email="[email protected]">Jordan Palacios</maintainer> | ||
|
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schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="3"> | ||
<name>gripper_controllers</name> | ||
<version>2.35.0</version> | ||
<version>2.36.0</version> | ||
<description>The gripper_controllers package</description> | ||
<maintainer email="[email protected]">Bence Magyar</maintainer> | ||
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