Add migration notes for Jazzy

doc/migration/Jazzy.rst

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+: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 <https://github.com/ros-controls/ros2_controllers/issues/812>`_).
+
+joint_trajectory_controller
+*****************************
+
+* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/issues/834>`_).
+* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/issues/839>`_).
+* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/issues/962>`_).
+* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/issues/902>`_).
+* 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/issues/796>`_).
+* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/issues/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.

doc/release_notes/Jazzy.rst

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+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes/Jazzy.rst
+
+Iron to Jazzy
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes the changes between Iron (previous) and Jazzy (current) releases.
+
+admittance_controller
+************************
+* Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 <https://github.com/ros-controls/ros2_controllers/issues/963>`_).
+
+diff_drive_controller
+*****************************
+* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/issues/812>`_).
+* Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/issues/958>`_).
+
+joint_trajectory_controller
+*****************************
+
+* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/issues/834>`_).
+* Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/issues/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/issues/849>`_).
+* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/issues/839>`_).
+* Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_).
+* Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/issues/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 <https://github.com/ros-controls/ros2_controllers/issues/962>`_).
+* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/issues/902>`_).
+* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/issues/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/issues/796>`_).
+* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/issues/949>`_).
+
+pid_controller
+************************
+* 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/issues/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 <https://github.com/ros-controls/ros2_controllers/issues/927>`_).
+* A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/issues/921>`_).
+
+tricycle_controller
+************************
+* tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/issues/957>`_).