Remove deprecated ros2_control API #69
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Pull Request Overview
This PR modernizes the ROS2 controller codebase by replacing the deprecated unlockAndPublish API with the newer try_publish method across all controller implementations.
- Updates all controller classes to use
try_publishinstead ofunlockAndPublish - Refactors publisher state management by moving from lock-based message updates to direct state variable updates
- Increments version numbers across all packages to 0.3.2 to reflect the API migration
Reviewed Changes
Copilot reviewed 40 out of 40 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| whole_body_controllers/* | Updates IK controller to use new publishing API and type aliases |
| velocity_controllers/* | Migrates sliding mode controllers from lock-based to direct state publishing |
| thruster_controllers/* | Updates thruster controllers to use try_publish method |
| thruster_allocation_matrix_controller/* | Replaces deprecated API in allocation matrix controller |
| end_effector_trajectory_controller/* | Updates trajectory controller publishing mechanism |
| topic_sensors/* | Version bump only, no code changes |
| ik_solvers/* | Version bump only, no code changes |
| controller_coordinator/* | Version bump only, no code changes |
| controller_common/* | Version bump only, no code changes |
| auv_controllers/* | Version bump only, no code changes |
| auv_control_msgs/* | Version bump only, no code changes |
| auv_control_demos/* | Version bump only, no code changes |
Comments suppressed due to low confidence (1)
thruster_controllers/src/gz_passthrough_controller.cpp:141
- [nitpick] The empty line at line 141 appears unnecessary and should be removed for better code consistency with other similar files in this PR.
rt_controller_state_pub_->try_publish(controller_state_);
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Jul 22, 2025
* deprecate old realtime api * update changelog and versions * forgot one * address comments (cherry picked from commit f4b6661)
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Changes Made
This PR removes the deprecated
unlockAndPublishAPI.Testing
Testing was done using the controller demos.