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github_url:https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst

Migration Guides: 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).
  • Parameters has_velocity_limits, has_acceleration_limits, and has_jerk_limits are removed. Instead, set the respective limits to .NAN. (#1315).

joint_trajectory_controller

  • Parameter allow_nonzero_velocity_at_trajectory_end is now per default false (#834).
  • The parameter start_with_holding is removed, it now always holds the position at activation (#839).
  • Goals are now cancelled in on_deactivate transition (#962).
  • Empty trajectory messages are discarded (#902).
  • 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.
  • Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (#716). Adaptions to the action goal might be necessary.
  • Parameter open_loop_control is replaced by interpolate_from_desired_state and setting the feedback gains to zero (#1525).

steering_controllers_library

  • front_steering parameter was removed (#1166). Now every kinematics type (bicycle, tricycle, Ackermann) has dedicated parameters for steering or traction wheels instead of front/rear wheels.
    • General: Remove front_steering and use traction_joints_names/steering_joints_names instead of rear_wheels_names/front_wheels_names, respectively.
    • bicycle_steering_controller: Set traction_wheel_radius instead of front_wheel_radius, rear_wheel_radius.
    • tricycle_steering_controller: Set traction_wheels_radius instead of front_wheels_radius, rear_wheels_radius.
    • ackermann_steering_controller: Set traction_wheels_radius instead of front_wheels_radius, rear_wheels_radius, and traction_track_width (and optionally steering_track_width, if it differs) instead of rear_wheel_track, front_wheel_track.