diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index bff6db552d..cfda4d8195 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -16,9 +16,9 @@ Guidelines and Best Practices .. toctree:: :titlesonly: - :glob: - * + mobile_robot_kinematics.rst + writing_new_controller.rst Controllers for Wheeled Mobile Robots diff --git a/doc/migration.rst b/doc/migration.rst new file mode 100644 index 0000000000..f34261af8a --- /dev/null +++ b/doc/migration.rst @@ -0,0 +1,13 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst + +Migration Guides: Humble to Iron +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +This list summarizes important changes between Humble (previous) and Iron (current) releases, where changes to user code might be necessary. + +.. note:: + + This list was created in July 2024, earlier changes are not included. + +joint_trajectory_controller +***************************** + * Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 `_). Adaptions to the action goal might be necessary. diff --git a/doc/migration/Jazzy.rst b/doc/migration/Jazzy.rst deleted file mode 100644 index 2114436098..0000000000 --- a/doc/migration/Jazzy.rst +++ /dev/null @@ -1,21 +0,0 @@ -: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. -* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 `_). Adaptions to the action goal might be necessary. diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes.rst similarity index 68% rename from doc/release_notes/Jazzy.rst rename to doc/release_notes.rst index 4793fd957d..ac407a671d 100644 --- a/doc/release_notes/Jazzy.rst +++ b/doc/release_notes.rst @@ -1,24 +1,21 @@ -:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes/Jazzy.rst +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst -Iron to Jazzy +Release Notes: Humble to Iron ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This list summarizes the changes between Iron (previous) and Jazzy (current) releases. +This list summarizes the changes between Humble (previous) and Iron (current) releases. Bugfixes are not included in this list. -admittance_controller -************************ -* Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 `_). +.. note:: + + This list was created in July 2024, earlier changes may not be included. 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 `_): @@ -32,7 +29,6 @@ joint_trajectory_controller * 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 `_). ``angle_wraparound`` parameter was completely removed. * Tolerances sent with the action goal are now processed and used for the action. (`#716 `_). For details, see the `JointTolerance message `_: .. code-block:: markdown @@ -55,8 +51,3 @@ pid_controller 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 `_).