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Release Notes: Jazzy to Kilted

This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.

force_torque_sensor_broadcaster

  • Multiplier support was added. Users can now specify per–axis scaling factors for both force and torque readings, applied after the existing offset logic. (#1647).

joint_trajectory_controller

  • The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior. (#1759).
  • Scaling support was added in #1191. With this the controller "stretches the time" with which it progresses in the trajectory. Scaling can either be set manually or it can be synchronized with the hardware. See :ref:`jtc_speed_scaling` for details.

omni_wheel_drive_controller

  • 🚀 The omni_wheel_drive_controller was added 🎉 (#1535).

pid_controller

  • The controller now supports the new anti-windup strategy of the PID class, which allows for more flexible control of the anti-windup behavior (#1585). * Output clamping via u_clamp_max and u_clamp_min was added, allowing users to bound the controller output. * The legacy antiwindup boolean and integral clamp parameters i_clamp_max/i_clamp_min have been deprecated in favor of the new antiwindup_strategy parameter. A tracking_time_constant parameter has also been introduced to configure the back-calculation strategy. * A new error_deadband parameter stops integration when the error is within a specified range.
  • PID state publisher can be turned off or on by using activate_state_publisher parameter. (#1823).