release_notes.rst

github_url:	https://github.com/ros-controls/ros2_controllers/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.

force_torque_sensor_broadcaster

• Added support for transforming Wrench messages to a given list of target frames. This is useful when applications need force/torque data in their preferred coordinate frames. (#2021).

diff_drive_controller

• Parameter tf_frame_prefix_enable got deprecated and will be removed in a future release (#1997).
• Now any tilde ("~") character in tf_frame_prefix is substituted with node namespace. (#1997).

mecanum_drive_controller

• Parameter tf_frame_prefix_enable got deprecated and will be removed in a future release (#1997).
• Now any tilde ("~") character in tf_frame_prefix is substituted with node namespace. (#1997).

joint_state_broadcaster

• Make all parameters read-only (the never got re-evaluated after initialization anyways). (#2064)
• Added parameter publish_dynamic_joint_states to enable/disable publishing of dynamic joint states. (#2064)

joint_trajectory_controller

• Fill in 0 velocities and accelerations into point before trajectories if the state interfaces don't contain velocity / acceleration information, but the trajectory does. This way, the segment up to the first waypoint will use the same interpolation as the rest of the trajectory. (#2043)