3.0.0

This is a major release containing several features for the ROSCon 2024 workshop: "Hands-on with ROS 2 Deliberation Technologies"

Major features include:

• Ability to open/close hallways and storage locations.
• Simulating local, per-robot, object observability and detection actions.
• Simulating action delays, success probability, and battery depletion/charging.
• Improvements to navigation, including path canceling, runtime collision detection, planner resets, and simplified code.
• All high-level actions and task plans can now be canceled and return execution status, in both the core API and ROS interface.
• Improved ROS interface with additional features, as well as integration tests and ability to build the entire repo with colcon.

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What's Changed

• Update GitHub actions and pre-commit by @sea-bass in #178
• Pin NumPy below 2.0.0 by @sea-bass in #179
• Unpin NumPy and do not upgrade pip in scripts and CI by @sea-bass in #180
• Improve setup script experience by @sea-bass in #183
• Add partial observability to robots by @sea-bass in #187
• Allow path planning failures to fail navigate actions by @sea-bass in #190
• Small fix to nav failure state tracking by @sea-bass in #192
• Cleanup navigation display and execution in GUI by @sea-bass in #193
• Fix GUI threading errors when clicking Navigate button by @sea-bass in #195
• Flesh out tests for RRT and PRM planner by @sea-bass in #196
• Add hallway open and close capabilities by @sea-bass in #198
• Fix yaw setting in location nav poses by @sea-bass in #201
• Unify navigation code and automatically extract robot location by @sea-bass in #202
• Simulate delays and failures when executing actions by @sea-bass in #205
• Add reference to "Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation System" paper by Kashid and Kumat by @sea-bass in #210
• Add path execution validation and abort by @sea-bass in #211
• Allow canceling actions and plans by @sea-bass in #214
• Run colcon tests in CI by @sea-bass in #216
• Add execution status to actions and plans by @sea-bass in #217
• Add ROS service to set location state by @sea-bass in #218
• Go through docs after latest changes by @sea-bass in #219
• Add test coverage to plan printing by @sea-bass in #220
• Extend Open/Close actions to storage locations by @sea-bass in #221
• Use signals and slots in GUI display methods by @sea-bass in #222
• Show path in GUI when the path is given beforehand + unify query to entity support in GUI vs. non-GUI actions by @sea-bass in #223
• Fix ROS 2 action abort paths by @sea-bass in #225
• Fix action status tracking by @sea-bass in #226
• Add ROS interface integration tests by @sea-bass in #227
• Handle path planning failures correctly in action interface by @sea-bass in #232
• Support getting local robot observations in world state ROS service by @sea-bass in #233
• Move action execution options to the robot definition by @sea-bass in #234
• Simulate robot battery usage and charging by @sea-bass in #235
• Enable Open, Close, and Detect actions in PDDL capabilities by @sea-bass in #237
• Require PySide6 6.4.0 or greater by @sea-bass in #238
• Add specialized ROS action servers for path planning and following by @sea-bass in #239
• Add specialized ROS action for object detection by @sea-bass in #240
• Add UI button to toggle collision polygon display (issue #200) by @muhidabid in #242
• Allow pyrobosim to be built and tested with colcon by @sea-bass in #246
• Make CI work from forks by @sea-bass in #245
• Simplify path planner API and allow planner resets by @sea-bass in #241
• Gracefully exit navigation action when target location is not specified by @sea-bass in #248
• Implemented Cancel Actions UI button (#215) by @muhidabid in #247
• Add Reset Path Planner UI button by @sea-bass in #249
• 3.0.0 by @sea-bass in #250

New Contributors

• @muhidabid made their first contribution in #242

Full Changelog: 2.0.0...3.0.0