diff --git a/doc/release_notes.rst b/doc/release_notes.rst index c9ddcf5261..06e1d8543e 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -17,50 +17,7 @@ For details see the controller_manager section. controller_manager ****************** -<<<<<<< HEAD -======= - * Configured chainable controller: Listed exported interfaces are unavailable and unclaimed - * Active chainable controller (not in chained mode): Listed exported interfaces are available but unclaimed - * Active chainable controller (in chained mode): Listed exported interfaces are available and claimed -* Try using SCHED_FIFO on any kernel (`#1142 `_) -* A method to get node options to setup the controller node was added (`#1169 `_): ``get_node_options`` can be overridden by controllers, this would make it easy for other controllers to be able to setup their own custom node options -* CM now subscribes to ``robot_description`` topic instead of ``~/robot_description`` (`#1410 `_). -* Change the controller sorting with an approach similar to directed acyclic graphs (`#1384 `_) -* Changes from `(PR #1256) `__ - - * All ``joints`` defined in the ````-tag have to be present in the URDF received :ref:`by the controller manager `, otherwise the following error is shown: - - The published robot description file (URDF) seems not to be genuine. The following error was caught: not found in URDF. - - This is to ensure that the URDF and the ````-tag are consistent. E.g., for configuration ports use ``gpio`` interface types instead. - - * The syntax for mimic joints is changed to the `official URDF specification `__. - - .. code-block:: xml - - - - - - - - - - - - - - - - - - The parameters within the ``ros2_control`` tag are not supported any more. -* The support for the ``description`` parameter for loading the URDF was removed (`#1358 `_). -* The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 `_). -* The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 `_). -* Added support for the wildcard entries for the controller configuration files (`#1724 `_). * ``ros2_control_node`` can now handle the sim time used by different simulators, when ``use_sim_time`` is set to true (`#1810 `_). ->>>>>>> d714e8b ([ros2_control_node] Handle simulation environment clocks (#1810)) * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 `_). * 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 `_).