diff --git a/doc/release_notes.rst b/doc/release_notes.rst index 86e6f5f3d3..baf340336f 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -20,71 +20,3 @@ controller_manager * Added support for the wildcard entries for the controller configuration files (`#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 `_). * 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 `_). - -hardware_interface -****************** -* A portable version for string-to-double conversion was added: ``hardware_interface::stod`` (`#1257 `_) -* ``test_components`` was moved to its own package (`#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 `_) - - .. code:: xml - - - - ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware - 2.0 - 3.0 - 2.0 - - - - -1 - 1 - - - - - - - - -* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 `_) -* Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 `_) -* Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 `_) -* With (`#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 `_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles. -* With (`#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 `_) - -Adaption of Command-/StateInterfaces -*************************************** -Changes from `(PR #1688) `_ for an overview of related changes and discussion refer to `(PR #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 `__). -* 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``, 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 `_) -* The ``set_hardware_component_state`` verb was added (`#1248 `_). Use the following command to set the state of a hardware component - - .. code-block:: bash - - ros2 control set_hardware_component_state - -* The ``load_controller`` now supports parsing of the params file (`#1703 `_). - - .. code-block:: bash - - ros2 control load_controller - -* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 `_). - - .. code-block:: bash - - ros2 control --ros-args -r __ns:= -