:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst Release Notes: Kilted Kaiju to Lyrical Luth ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases. controller_interface ******************** * The new ``MagneticFieldSensor`` semantic component provides an interface for reading data from magnetometers. (`#2627 `__) * The controller_manager will now deactivate the entire controller chain if a controller in the chain fails during the update cycle. `(#2681 `__) * The update rate of the controller will now be approximated to a closer achievable frequency, when its frequency is not achievable with the current controller manager update rate. (`#2828 `__) * The lifecycle ID is cached internally in the controller to avoid calls to get_lifecycle_state() in the real-time control loop. (`#2884 `__) * Added 2 new interface_configuration_types: ``INDIVIDUAL_BEST_EFFORT`` and ``REGEX``. These allow for more flexible controller interface configurations. (`#2902 `__) * Added new methods ``on_export_state_interfaces_list`` and ``on_export_reference_interfaces_list`` are added exporting the interface pointers for chainable controller. (`#2988 `__) controller_manager ****************** * The ``bcolors`` class now respects the ``RCUTILS_COLORIZED_OUTPUT`` environment variable to automatically disable colors in non-TTY and CI environments. * The default strictness for ``switch_controller`` is changed to ``strict``. (`#2742 `__) * A new parameter ``handle_exceptions`` is added to the controller manager to control whether exceptions thrown by controllers during update are caught and handled internally or propagated. (`#2807 `__) * The ``spawner`` now supports per controller arguments, while parsing the arguments for multiple controllers using ``--controller`` option. (`#2895 `__) * Added new ``cleanup_controller`` service to the controller manager to allow cleaning up controllers from external clients. (`#2414 `__) * Removed forwarding of the controller manager's ros arguments to the controllers via NodeOptions. (`#3016 `__) * The ``spawner`` now forwards all the parameter files parsed to the spawner node to the spawned controllers. This would support ``allow_substs`` approach. (`#3136 `__) hardware_interface ****************** * The lifecycle ID is cached internally in the controller to avoid calls to get_lifecycle_state() in the real-time control loop. (`#2884 `__) * Handles now also support ``float32``, ``uint8``, ``int8``, ``uint16``, ``int16``, ``uint32``, ``int32`` data types in addition to double and bool. (`#2879 `__) ros2controlcli ************** * Added CLI support for invoking controller cleanup. (`#2414 `__) transmission_interface ********************** * The ``simple_transmission`` and ``differential_transmission`` now also support the ``force`` interface (`#2588 `_).