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add extended timer information of rcl/rclcpp for jazzy release note. #4455

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merged 2 commits into from
May 15, 2024
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add extended timer information of rcl/rclcpp for jazzy release note. #4455

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add extended timer information of rcl/rclcpp for jazzy release note.
fujitatomoya May 14, 2024
86e3680
typo fix.
fujitatomoya May 14, 2024
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16 changes: 16 additions & 0 deletions source/Releases/Release-Jazzy-Jalisco.rst
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Expand Up @@ -389,6 +389,14 @@ See https://github.com/ros2/geometry2/pull/646 for more information.
``rcl``
^^^^^^^

Actual and expected call time when timer is called
""""""""""""""""""""""""""""""""""""""""""""""""""

New timer API ``rcl_timer_call_with_info`` is added to collect actual and expected call time when the timer is called.
This allows users to get the timer information when the timer is expected to be called and actual time that timer is called.

See https://github.com/ros2/rcl/pull/1113 for more details.

Improved rcl_wait in the area of timeout computation and spurious wakeups
"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

Expand Down Expand Up @@ -437,6 +445,14 @@ Back in Humble, subscription signatures of the form ``void callback(std::shared_
In Jazzy, these subscription signatures have been removed.
Users should switch to using ``void callback(std::shared_ptr<const MessageT>)`` or ``void callback(std::shared_ptr<const MessageT>, const rclcpp MessageInfo &)``.

Actual and expected call time when timer is called
""""""""""""""""""""""""""""""""""""""""""""""""""

``rclcpp::TimerInfo`` argument is added to the timer callback to collect actual and expected call time when the timer is called.
This allows https://github.com/ros2/rclcpp/pull/2343 users to get the timer information when the timer is expected to be called and actual time that timer is called.

See https://github.com/ros2/rclcpp/pull/2343 for more details.

``rclcpp_action``
^^^^^^^^^^^^^^^^^

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