release: version 4.0.0 (#64)

.devcontainer/devcontainer.json

@@ -5,7 +5,7 @@
     "dockerfile": "../Dockerfile",
     "context": "..",
     "target": "development",
-    "args": { "CL_VERSION": "v7.2.0" }
+    "args": { "CL_VERSION": "v7.3.0" }
   },
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros2/.devcontainer,type=bind,consistency=cached",
   "workspaceFolder": "/home/ros2/.devcontainer",

CHANGELOG.md

@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [4.0.0](#400)
 - [3.2.0](#320)
 - [3.1.0](#310)
 - [3.0.0](#300)
@@ -10,7 +11,19 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
-## Upcoming changes (in development)
+## 4.0.0
+
+### November 7, 2023
+
+Version 4.0.0 is a major update to modulo with a new non-templated component interface.
+
+### Breaking changes
+
+The component interface now uses node interfaces - a new feature in ROS2 Iron - instead of templated inheritance from
+nodes to interface with ROS. Due to that change in the components inheritance, C++ components built with modulo 3.x.x
+and below will not be compatible with modulo 4.0.0 and will need to be recompiled. Note that this only concerns the
+`modulo_components` package and that there is no need to change anything in the code, recompiling derived components
+will be sufficient.
 
 - chore: remove unnecessary tests (#63)
 - Remove callback group for topics and services (#61)

Dockerfile

@@ -1,5 +1,5 @@
 #syntax=docker/dockerfile:1.4.0
-ARG CL_VERSION=v7.2.0
+ARG CL_VERSION=v7.3.0
 ARG ROS2_VERSION=iron
 FROM ghcr.io/aica-technology/control-libraries:${CL_VERSION} as cl
 FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base

VERSION

@@ -1 +1 @@
-3.2.0
+4.0.0

build.sh

@@ -4,7 +4,7 @@ IMAGE_NAME=ghcr.io/aica-technology/modulo
 IMAGE_TAG=latest
 
 ROS2_VERSION=iron
-CL_VERSION=v7.2.0
+CL_VERSION=v7.3.0
 
 SSH_PORT=4440
 

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 3.2.0
+PROJECT_NUMBER = 4.0.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

source/modulo_component_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>3.2.0</version>
+  <version>4.0.0</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

source/modulo_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>3.2.0</version>
+  <version>4.0.0</version>
   <description>Modulo base classes that wrap ROS2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="[email protected]">Baptiste Busch</maintainer>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>

source/modulo_core/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>3.2.0</version>
+  <version>4.0.0</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="[email protected]">Baptiste Busch</maintainer>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>

source/modulo_utils/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>3.2.0</version>
+  <version>4.0.0</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="[email protected]">Dominic Reber</maintainer>
   <license>GPLv3</license>