Update release_notes.rst

doc/release_notes.rst

@@ -20,71 +20,3 @@ controller_manager
 * Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
 * The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 <https://github.com/ros-controls/ros2_control/pull/1822>`_).
 * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
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-hardware_interface
-******************
-* A portable version for string-to-double conversion was added: ``hardware_interface::stod`` (`#1257 <https://github.com/ros-controls/ros2_control/pull/1257>`_)
-* ``test_components`` was moved to its own package (`#1325 <https://github.com/ros-controls/ros2_control/pull/1325>`_)
-* The ``ros2_control`` tag now supports parsing of the limits from the URDF into the ``HardwareInfo`` structure. More conservative limits can be defined using the ``min`` and ``max`` attributes per interface (`#1472 <https://github.com/ros-controls/ros2_control/pull/1472>`_)
-
-  .. code:: xml
-
-    <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
-      <hardware>
-        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
-        <param name="example_param_hw_start_duration_sec">2.0</param>
-        <param name="example_param_hw_stop_duration_sec">3.0</param>
-        <param name="example_param_hw_slowdown">2.0</param>
-      </hardware>
-      <joint name="joint1">
-        <command_interface name="position">
-          <param name="min">-1</param>
-          <param name="max">1</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <limits enable="false"/>
-        </command_interface>
-        <state_interface name="position"/>
-      </joint>
-    </ros2_control>
-
-* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 <https://github.com/ros-controls/ros2_control/pull/1488>`_)
-* Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 <https://github.com/ros-controls/ros2_control/pull/1585>`_)
-* Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)
-* With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
-* With (`#1421 <https://github.com/ros-controls/ros2_control/pull/1421>`_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file.
-
-joint_limits
-************
-* Add header to import limits from standard URDF definition (`#1298 <https://github.com/ros-controls/ros2_control/pull/1298>`_)
-
-Adaption of Command-/StateInterfaces
-***************************************
-Changes from `(PR #1688) <https://github.com/ros-controls/ros2_control/pull/1688>`_ for an overview of related changes and discussion refer to `(PR #1240) <https://github.com/ros-controls/ros2_control/pull/1240>`_.
-
-* ``Command-/StateInterfaces`` are now created and exported automatically by the framework via the ``on_export_command_interfaces()`` or ``on_export_state_interfaces()`` methods based on the interfaces defined in the ``ros2_control`` XML-tag, which gets parsed and the ``InterfaceDescription`` is created accordingly (check the `hardware_info.hpp <https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/hardware_info.hpp>`__).
-* The memory for storing the value of a ``Command-/StateInterfaces`` is no longer allocated in the hardware but instead in the ``Command-/StateInterfaces`` itself.
-* To access the automatically created ``Command-/StateInterfaces`` we provide the ``std::unordered_map<std::string, InterfaceDescription>``, where the string is the fully qualified name of the interface and the ``InterfaceDescription`` is the configuration of the interface. The ``std::unordered_map<>`` are divided into ``type_state_interfaces_`` and ``type_command_interfaces_`` where type can be: ``joint``, ``sensor``, ``gpio`` and ``unlisted``. E.g. the ``CommandInterfaces`` for all joints can be found in the  ``joint_command_interfaces_`` map. The ``unlisted`` includes all interfaces not listed in the ``ros2_control`` XML-tag but were created by overriding the ``export_unlisted_command_interfaces()`` or ``export_unlisted_state_interfaces()`` function by creating some custom ``Command-/StateInterfaces``.
-
-
-ros2controlcli
-**************
-* Spawner colours were added to ``list_controllers`` depending upon active or inactive (`#1409 <https://github.com/ros-controls/ros2_control/pull/1409>`_)
-* The ``set_hardware_component_state`` verb was added (`#1248 <https://github.com/ros-controls/ros2_control/pull/1248>`_). Use the following command to set the state of a hardware component
-
-  .. code-block:: bash
-
-    ros2 control set_hardware_component_state <hardware_component_name> <state>
-
-* The ``load_controller`` now supports parsing of the params file (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
-
-  .. code-block:: bash
-
-    ros2 control load_controller <controller_name> <realtive_or_absolute_file_path>
-
-* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
-
-  .. code-block:: bash
-
-    ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>
-