We are happy to announce that ros2_control reached the stable release state for the kilted distro with this week’s sync. Read more in the latest post about what “stable release” means.
Selected highlights:
- New anti-windup strategies for the PID class (updated also for pid_controller and joint_trajectory_controller)
- New async scheduler options (synchronized/detached) used by the controller manager
- Statistics of execution time and periodicity of controllers and hardware components are published per default on
~/statisticstopic - force_torque_sensor_broadcaster: Filters and per-axis scaling was added.
- imu_sensor_broadcaster: Is now chainable and filtering capability was added.
- joint_trajectory_controller: Supports speed scaling (known from ur_controllers)
- New controllers:
- omni_wheel_drive_controller
- chained_filter_controller: use generic filter plugins for all interfaces
- motion_primitives_forward_controller: use primitives from robot arm vendor hardware
Some of the new features are also available on jazzy, we try to backport all non-breaking changes if it does not take too much effort for adaption.
For the full list see the release notes on control.ros.org.
Finally, necessary changes for fixing API-breaking changes are summarized in the migration guides.