From ec4f3dc02e11a57f58b7ca84e5af9aec3f2cd20b Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 4 Apr 2024 21:57:29 +0000 Subject: [PATCH] Add migration notes for Jazzy --- doc/migration/Iron.rst | 47 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 doc/migration/Iron.rst diff --git a/doc/migration/Iron.rst b/doc/migration/Iron.rst new file mode 100644 index 0000000000..34ea99ec17 --- /dev/null +++ b/doc/migration/Iron.rst @@ -0,0 +1,47 @@ +Iron to Jazzy +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +This list summarizes the changes between Iron (previous) and Jazzy (current) releases and gives hints for migration steps if necessary. + +admittance_controller +************************ +* Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 `_). + +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 `_). +* Fix floating point comparison of velocity tolerance (`#879 `_). +* Add console output for tolerance checks (`#932 `_): + + .. 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 `_). +* 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 `_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint. + +pid_controller +************************ +* 🚀 The PID controller was added 🎉 (`#434 `_). + +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 `_).