v0.2.0

ROS2.jl v0.2.0 Release Notes

Diff to previous

v0.1.5...v0.2.0

Compatibility

This release adds a lot of feature, but is fully backward compatible with v0.1.5. All existing code will continue to work without any modifications.
When migrating from v0.1.5:

New features do not affect existing code
Existing APIs (Publisher, Subscriber, Timer, etc.) unchanged
No breaking changes

New Features

Time Management System

• Added ROSTime, ROSDuration, and ROSClock types
• Time arithmetic support (addition, subtraction, comparison operators)
• Conversion functions with builtin_interfaces messages (to_msg_time, from_msg_time, etc.)
• Conversion to seconds and nanoseconds (to_sec, to_nsec)

TF2 Transform System

• TransformListener: Query transformations between coordinate frames
• TransformBroadcaster: Publish dynamic coordinate transformations
• StaticTransformBroadcaster: Publish static coordinate transformations
• lookup_transform, can_transform: Transform lookup and availability checking
• create_transform_stamped: Transform message creation

Message Handling

• get_available_message_types: Get available message types
• create_msg_dynamic: Dynamic message creation
• get_message_fields: Message field introspection
• is_valid_message_type: Message type validation
• Added QoSProfile with presets (DEFAULT_QOS, SENSOR_DATA_QOS)

Advanced Features

• LifecycleNode: Lifecycle management (configure, activate, deactivate, cleanup, shutdown_lifecycle)
• MultiThreadedExecutor: Multi-threaded execution (add_node, spin_executor, shutdown_executor)
• ComponentManager: Component management (load_component, unload_component, list_components)
• Domain ID management (set_domain_id, get_domain_id)

Code Improvements

Formatting

• Applied consistent code formatting across all files
• Cleaned up function argument indentation
• Organized whitespace

Initialization

• Enhanced environment variable checking in __init__
• Proper Python path configuration
• Improved error handling

Export Management

• Properly exported all new functionality
• Organized module structure

File Structure

New Files

• src/time.jl: Time management module
• src/tf2.jl: TF2 transform module
• src/messages.jl: Message handling module
• src/advanced.jl: Advanced features module

Modified Files

• src/ROS2.jl: Added includes and exports for new modules
• src/action.jl: Code formatting fixes
• src/timer.jl: Code formatting fixes

Compatibility

When migrating from v0.1.5:

• New features do not affect existing code
• Existing APIs (Publisher, Subscriber, Timer, etc.) unchanged

Installation

] add ROS2

or

using Pkg
Pkg.add("ROS2")

Future Plans

• Action client/server enhancements
• Advanced service features
• Enhanced parameter system
• Bag file support

v0.1.5

<description of version>

v0.1.4

rename directory and pass CI without ROS2 install

v0.1.3

version change

v0.1.2

RobotJuliaClient --> RobotOperationgClient

v0.1.1

ROJ --> RobotJuliaClient

v0.1.0

Merge pull request #5 from Michi-Tsubaki/tsubaki/ros-pubsub

Closes #4