^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package controller_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 6.7.1 (2026-05-12) ------------------ * Fix the out of bound access of std::vector in ChainableController and others (`#3287 `_) * Bump C++ version to C++20 (`#3253 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota 6.7.0 (2026-04-23) ------------------ 6.6.0 (2026-04-17) ------------------ * Add test_utils file for transition tests (`#3048 `_) * Contributors: Christoph Fröhlich 6.5.1 (2026-04-05) ------------------ 6.5.0 (2026-04-02) ------------------ * Migrate hardware components to new handle API (`#2987 `_) * Add pal_statistics as explicit dependency (`#3163 `_) * Add new API for chainable controller interface exporting (`#2988 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota 6.4.0 (2026-02-03) ------------------ 6.3.2 (2026-01-10) ------------------ 6.3.1 (2025-12-30) ------------------ 6.3.0 (2025-12-29) ------------------ * Add new interface_configuration_types and reusable methods (`#2902 `_) * Use Pimpl approach for controller and hardware component interfaces (`#2898 `_) * Contributors: Sai Kishor Kothakota 6.2.0 (2025-12-10) ------------------ * Fix the blocking calls of lifecycle_state in the real-time loop (`#2884 `_) * Fix platform-dependent warning in `controller_interface_base.cpp` using `fmt::format` (`#2880 `_) * Contributors: Dhruv Patel, Sai Kishor Kothakota 6.1.0 (2025-12-01) ------------------ * Add tf prefix helper and test (`#2803 `_) * Calculate achievable update rate of controllers (`#2828 `_) * Use fmt for correct int64_t format specifier across platforms (`#2817 `_) * Contributors: Dhruv Patel, Ege Kural, Sai Kishor Kothakota 6.0.2 (2025-11-09) ------------------ * Extend the reasoning for the capacity mismatch (`#2723 `_) * Contributors: Sai Kishor Kothakota 6.0.1 (2025-11-03) ------------------ 6.0.0 (2025-10-27) ------------------ * Add magnetic_field_sensor semantic component (`#2627 `_) * Fix `-Wreturn-local-addr` compiler warning (`#2628 `_) * [Controllers] Set async thread properties via parameters (`#2613 `_) * Contributors: Aarav Gupta, Christoph Fröhlich, Sai Kishor Kothakota 5.7.0 (2025-10-03) ------------------ * Cleanup deprecations for kilted release (`#2605 `_) * Add `ControllerInterfaceParams` to initialize the Controllers (`#2390 `_) * Let `get_ordered_interfaces` throw if input vector size does not fit (`#2528 `_) * Update message dependencies for tests (`#2497 `_) * Contributors: Christoph Fröhlich, Sai Kishor Kothakota 5.6.0 (2025-08-26) ------------------ 5.5.0 (2025-07-31) ------------------ * Fix missing include for std::find (`#2425 `_) * Document order of interfaces (`#2394 `_) * Contributors: Christoph Fröhlich, Guilhem Saurel 5.4.0 (2025-07-21) ------------------ 5.3.0 (2025-07-02) ------------------ 5.2.0 (2025-06-07) ------------------ 5.1.0 (2025-05-24) ------------------ * Use target_link_libraries instead of ament_target_dependencies (`#2266 `_) * Cleanup deprecations in `ros_control` (`#2258 `_) * Contributors: Sai Kishor Kothakota 5.0.0 (2025-05-21) ------------------ * Statically allocate string concatenations using FMT formatting (`#2205 `_) * Contributors: mini-1235 4.29.0 (2025-05-04) ------------------- * Add common reusable helper methods header (`#2099 `_) * Contributors: Sai Kishor Kothakota 4.28.1 (2025-04-17) ------------------- 4.28.0 (2025-04-10) ------------------- * Make all packages use gmock, not gtest (`#2162 `_) * Fix async controllers deactivation regime (`#2017 `_) * Bump version of pre-commit hooks (`#2156 `_) * Use ros2_control_cmake (`#2134 `_) * [Handle] Add support for booleans in the handles (`#2065 `_) * Improve package descriptions & update maintainers (`#2103 `_) * Contributors: Bence Magyar, Christoph Fröhlich, Sai Kishor Kothakota, Soham Patil, github-actions[bot] 4.27.0 (2025-03-01) ------------------- * [Handle] Use `get_optional` instead of `get_value` (`#2061 `_) * Cleanup chainable controller exported interfaces to allow reconfiguring (`#2073 `_) * Use new `get_value` API for newly added tests and semantic components (`#2055 `_) * Add new `get_value` API for Handles and Interfaces (`#1976 `_) * Integrate pal_statistics for introspection of controllers, hardware components and more (`#1918 `_) * [ControllerInterface] Improve the prefix name check for the chainable controllers (`#2038 `_) * Contributors: Sai Kishor Kothakota 4.26.0 (2025-02-07) ------------------- * add a semantic command interface to "semantic_components" (`#1945 `_) * Contributors: Thibault Poignonec 4.25.0 (2025-01-29) ------------------- * Use `target_compile_definitions` instead of installing test files (`#2009 `_) * Add GPS semantic component (`#2000 `_) * Contributors: Sai Kishor Kothakota, Wiktor Bajor 4.24.0 (2025-01-13) ------------------- * Trigger shutdown transition in destructor (`#1979 `_) * Contributors: Christoph Fröhlich 4.23.0 (2024-12-29) ------------------- * Remove boilerplate visibility macros (`#1972 `_) * Semantic components cleanup (`#1940 `_) * Contributors: Bence Magyar, Wiktor Bajor 4.22.0 (2024-12-20) ------------------- * Fixed typo. Added s to state_interfaces\_ (`#1930 `_) * [CI] Add clang job, setup concurrency, use rt_tools humble branch (`#1910 `_) * Contributors: Christoph Fröhlich, louietouie 4.21.0 (2024-12-06) ------------------- * [Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager (`#1871 `_) * Contributors: Sai Kishor Kothakota 4.20.0 (2024-11-08) ------------------- * reset the async variables upon activation to work post exceptions (`#1860 `_) * [CM] Fix controller missing update cycles in a real setup (`#1774 `_) * Contributors: Sai Kishor Kothakota 4.19.0 (2024-10-26) ------------------- * [CM] Async Function Handler for Controllers (`#1489 `_) * Check the update_rate set to the controllers to be a valid one (`#1788 `_) * [PR-1689] Follow-up PR of the controller interface variants integration (`#1779 `_) * Add `PoseSensor` semantic component (`#1775 `_) * [RM/HW] Constify the exported state interfaces using ConstSharedPtr (`#1767 `_) * Contributors: RobertWilbrandt, Sai Kishor Kothakota 4.18.0 (2024-10-07) ------------------- * Adapt controller Reference/StateInterfaces to New Way of Exporting (variant support) (`#1689 `_) * [ControllerInterface] Fix to properly propagate the controller NodeOptions (`#1762 `_) * [Controller Interface] Make assign and release interfaces virtual (`#1743 `_) * Contributors: Manuel Muth, Sai Kishor Kothakota 4.17.0 (2024-09-11) ------------------- * Rename `get_state` and `set_state` Functions to `get/set_lifecylce_state` (variant support) (`#1683 `_) * Contributors: Manuel Muth 4.16.1 (2024-08-24) ------------------- 4.16.0 (2024-08-22) ------------------- * Fix params_file typo in spawner and update release notes for use_global_arguments (`#1701 `_) * Avoid using the global arguments for internal controller nodes (`#1694 `_) * Contributors: Sai Kishor Kothakota 4.15.0 (2024-08-05) ------------------- 4.14.0 (2024-07-23) ------------------- * Unused header cleanup (`#1627 `_) * move critical variables to the private context (`#1623 `_) * Contributors: Henry Moore, Sai Kishor Kothakota 4.13.0 (2024-07-08) ------------------- * [ControllerChaining] Export state interfaces from chainable controllers (`#1021 `_) * Contributors: Sai Kishor Kothakota 4.12.0 (2024-07-01) ------------------- 4.11.0 (2024-05-14) ------------------- * Fix dependencies for source build (`#1533 `_) * Add find_package for ament_cmake_gen_version_h (`#1534 `_) * Contributors: Christoph Fröhlich 4.10.0 (2024-05-08) ------------------- * Working async controllers and components [not synchronized] (`#1041 `_) * Contributors: Márk Szitanics 4.9.0 (2024-04-30) ------------------ * return the proper const object of the pointer in the const method (`#1494 `_) * Contributors: Sai Kishor Kothakota 4.8.0 (2024-03-27) ------------------ * generate version.h file per package using the ament_generate_version_header (`#1449 `_) * Use ament_cmake generated rclcpp version header (`#1448 `_) * Contributors: Sai Kishor Kothakota 4.7.0 (2024-03-22) ------------------ * add missing compiler definitions of RCLCPP_VERSION_MAJOR (`#1440 `_) * Contributors: Sai Kishor Kothakota 4.6.0 (2024-03-02) ------------------ * Add -Werror=missing-braces to compile options (`#1423 `_) * added conditioning to have rolling tags compilable in older versions (`#1422 `_) * Contributors: Sai Kishor Kothakota 4.5.0 (2024-02-12) ------------------ * A method to get node options to setup the controller node #api-breaking (`#1169 `_) * Contributors: Sai Kishor Kothakota 4.4.0 (2024-01-31) ------------------ 4.3.0 (2024-01-20) ------------------ * Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 `_) * Contributors: bailaC 4.2.0 (2023-12-12) ------------------ 4.1.0 (2023-11-30) ------------------ * Add few warning compiler options to error (`#1181 `_) * [ControllerInterface] Avoid warning about conversion from `int64_t` to `unsigned int` (`#1173 `_) * Contributors: Dr. Denis, Sai Kishor Kothakota 4.0.0 (2023-11-21) ------------------ * Pass controller manager update rate on the init of the controller interface (`#1141 `_) * Pass URDF to controllers on init (`#1088 `_) * Contributors: Bence Magyar, Sai Kishor Kothakota 3.21.0 (2023-11-06) ------------------- 3.20.0 (2023-10-31) ------------------- 3.19.1 (2023-10-04) ------------------- 3.19.0 (2023-10-03) ------------------- * Enable services for setting the log-level in controller per default (`#1102 `_) * Contributors: Dr. Denis 3.18.0 (2023-08-17) ------------------- * add a broadcaster for range sensor (`#1091 `_) * Contributors: flochre 3.17.0 (2023-08-07) ------------------- 3.16.0 (2023-07-09) ------------------- 3.15.0 (2023-06-23) ------------------- 3.14.0 (2023-06-14) ------------------- * Add -Wconversion flag to protect future developments (`#1053 `_) * enable ReflowComments to also use ColumnLimit on comments (`#1037 `_) * Contributors: Sai Kishor Kothakota, gwalck 3.13.0 (2023-05-18) ------------------- 3.12.2 (2023-04-29) ------------------- 3.12.1 (2023-04-14) ------------------- * Add missing build_export_depends to controller_interface (`#989 `_) * Contributors: Scott K Logan 3.12.0 (2023-04-02) ------------------- * [Controller Interface] Add time and period paramters to update_reference_from_subscribers() (`#846 `_) #API-break * Contributors: Robotgir, Denis Štogl 3.11.0 (2023-03-22) ------------------- * [ControllerManager] Add Class for Async Controllers and Lifecycle Management (`#932 `_) * Contributors: Márk Szitanics 3.10.0 (2023-03-16) ------------------- 3.9.1 (2023-03-09) ------------------ 3.9.0 (2023-02-28) ------------------ 3.8.0 (2023-02-10) ------------------ * Fix CMake install so overriding works (`#926 `_) * Async params (`#927 `_) * Contributors: Márk Szitanics, Tyler Weaver 3.7.0 (2023-01-24) ------------------ 3.6.0 (2023-01-12) ------------------ * Update imu_sensor.hpp (`#893 `_) Covariances values should come from the IMU_Broadcaster, like the frame_id or the time * Contributors: flochre 3.5.1 (2023-01-06) ------------------ 3.5.0 (2022-12-06) ------------------ 3.4.0 (2022-11-27) ------------------ 3.3.0 (2022-11-15) ------------------ 3.2.0 (2022-10-15) ------------------ 3.1.0 (2022-10-05) ------------------ * Add docs in export interface configurations for controllers. (`#804 `_) * Contributors: Denis Štogl 3.0.0 (2022-09-19) ------------------ 2.15.0 (2022-09-19) ------------------- * Remove autodeclare of parameters for controllers. (`#757 `_) * Contributors: Denis Štogl 2.14.0 (2022-09-04) ------------------- * Add doxygen comments (`#777 `_) * Contributors: Bence Magyar, Denis Štogl 2.13.0 (2022-08-03) ------------------- 2.12.1 (2022-07-14) ------------------- 2.12.0 (2022-07-09) ------------------- 2.11.0 (2022-07-03) ------------------- * [Interfaces] Improved ```get_name()``` method of hardware interfaces (soft) #api-breaking (`#737 `_) * Update maintainers of packages (`#753 `_) * Full functionality of chainable controllers in controller manager (`#667 `_) * auto-switching of chained mode in controllers * interface-matching approach for managing chaining controllers * Contributors: Bence Magyar, Denis Štogl, Lucas Schulze 2.10.0 (2022-06-18) ------------------- * CMakeLists cleanup (`#733 `_) * Update to clang format 12 (`#731 `_) * Make interface_list_contains_interface_type inline (`#721 `_) * Contributors: Andy Zelenak, Bence Magyar 2.9.0 (2022-05-19) ------------------ * Adding base class for chained controllers: `ChainedControllersInterface` (`#663 `_) * Extending ControllerInterface with methods for chainable controllers. * Switching to chained_mode is only forbidden if controller is active. * Default implementation for 'on_set_chained_mode' method. * Use two internal methods instead of 'update' directly on chained controllers. * Add ControllerInterfaceBase class with methods for chainable controller (`#717 `_) * Contributors: Denis Štogl 2.8.0 (2022-05-13) ------------------ 2.7.0 (2022-04-29) ------------------ * Make node private in ControllerInterface (`#699 `_) * Contributors: Jack Center 2.6.0 (2022-04-20) ------------------ * Add CallbackReturn into controller_interface namespace for simpler usage in controllers. (`#701 `_) * Enable namespaces for controllers. (`#693 `_) * Add tests for ControllerInterface class and clarify use of 'update_rate' parameter. (`#662 `_) #behaviorchange * Contributors: Denis Štogl 2.5.0 (2022-03-25) ------------------ * Use lifecycle nodes in controllers again (`#538 `_) * Add lifecycle nodes * Add custom 'configure' to controller interface to get 'update_rate' parameter. * Disable external interfaces of LifecycleNode. * Cleaning Controller Interface from obsolete code. (`#655 `_) * Contributors: Denis Štogl, Vatan Aksoy Tezer, Bence Magyar 2.4.0 (2022-02-23) ------------------ 2.3.0 (2022-02-18) ------------------ 2.2.0 (2022-01-24) ------------------ 2.1.0 (2022-01-11) ------------------ 2.0.0 (2021-12-29) ------------------ * fix get_update_rate visibility in windows (`#586 `_) * Use lifecycle name constants from hardware interface in controller interface (`#575 `_) * Use lifecycle name constants from hardware interface in controller interface * Remove controller_state_names.hpp since it is not needed. * Contributors: Melvin Wang, Xi-Huang 1.2.0 (2021-11-05) ------------------ 1.1.0 (2021-10-25) ------------------ * Quick fix 🏎: make doc on helpers clearer (`#553 `_) * Contributors: Denis Štogl 1.0.0 (2021-09-29) ------------------ * Per controller update rate (`#513 `_) * add update_rate member field to controller manager * added dt to controller interface and controller manager `#438 `_ (`#520 `_) * Methods controlling the lifecycle of controllers all have on\_ prefix * Do not manually set C++ version to 14 (`#516 `_) * rename get_current_state() to get_state() (`#512 `_) * Contributors: Bence Magyar, Denis Štogl, Dmitri Ignakov, Márk Szitanics, bailaC 0.8.0 (2021-08-28) ------------------ * Automatic parameter declaration - enable existence of undeclared parameters from overrides (`#504 `_) * Use clang format as code formatter (`#491 `_) * Add pre-commit setup. (`#473 `_) * Make controller_manager set controller's use_sim_time param when use_sim_time=True (`#468 `_) * Correct obviously wrong call in controller interface. (`#460 `_) * virtual destructors for semantic components (`#455 `_) * Contributors: Denis Štogl, Karsten Knese, Lovro Ivanov, Simon Honigmann 0.7.1 (2021-06-15) ------------------ * Remove forgoten debug output (`#439 `_) * Contributors: Denis Štogl 0.7.0 (2021-06-06) ------------------ * Add imu_sensor semantic component (`#429 `_) * Fix osx warnings (`#428 `_) * Add FTS as first semantic components to simplify controllers. (`#370 `_) * Contributors: bailaC, Denis Štogl, Jordan Palacios, Karsten Knese, Victor Lopez 0.6.1 (2021-05-31) ------------------ 0.6.0 (2021-05-23) ------------------ * Added labels for controller states. (`#414 `_) * prevent variable-sized object initialization (`#411 `_) * Contributors: Denis Štogl, Karsten Knese, Bence Magyar 0.5.0 (2021-05-03) ------------------ * Add NodeOptions parameter to init function of controller_interface (`#382 `_) * guard around pragmas (`#397 `_) * avoid deprecations (`#393 `_) * Contributors: Auguste Bourgois, Karsten Knese, Bence Magyar 0.4.0 (2021-04-07) ------------------ * Replace controller_interface return type SUCCESS by OK and mark SUCCESS as deprecated (`#374 `_) * Contributors: Mateus Amarante 0.3.0 (2021-03-21) ------------------ 0.2.1 (2021-03-02) ------------------ 0.2.0 (2021-02-26) ------------------ 0.1.6 (2021-02-05) ------------------ 0.1.5 (2021-02-04) ------------------ 0.1.4 (2021-02-03) ------------------ 0.1.3 (2021-01-21) ------------------ 0.1.2 (2021-01-06) ------------------ 0.1.1 (2020-12-23) ------------------ 0.1.0 (2020-12-22) ------------------ * Don't auto-declare override parameters and fix some prints (`#276 `_) * Add configure controller service (`#272 `_) * get_node() throw if node is uninitialized (`#268 `_) * Remove lifecycle node (`#261 `_) * Use resource manager (`#236 `_) * import controller_interface * Contributors: Bence Magyar, Denis Štogl, Jordan Palacios, Karsten Knese, Victor Lopez