diff --git a/source/Releases/Release-Kilted-Kaiju.rst b/source/Releases/Release-Kilted-Kaiju.rst index 349b39d46d..657071a6fd 100644 --- a/source/Releases/Release-Kilted-Kaiju.rst +++ b/source/Releases/Release-Kilted-Kaiju.rst @@ -41,9 +41,151 @@ TODO New features in this ROS 2 release ---------------------------------- +``ament_cmake_ros`` +^^^^^^^^^^^^^^^^^^^ + +Add rmw_test_fixture for supporting RMW-isolated testing +"""""""""""""""""""""""""""""""""""""""""""""""""""""""" + +Included two new packages which provide an extensible mechanism for creating a test fixture for RMW-based communication isolation. +It is modeled closely after the rmw and rmw_implementation API. + +The ``rmw_test_fixture`` package currently provides only the API, which could be implemented by an RMW provider for configuring their RMW for a test to run. + +The ``rmw_test_fixture_implementation`` package provides the entry point for discovering, loading, and invoking the appropriate extension. + +See https://github.com/ros2/ament_cmake_ros/pull/21 for more details. + +``common_interfaces`` +^^^^^^^^^^^^^^^^^^^^^ + +New PoseStampedArray message +"""""""""""""""""""""""""""" + +Added a pose stamped array message to nav_msgs. + +See https://github.com/ros2/common_interfaces/pull/240 for more details. + +``ros2cli`` +^^^^^^^^^^^ + +Action introspection +"""""""""""""""""""" + +This allows to instrospect an action with the command line. +Using ``ros2cli`` tools: ``ros2 action echo ``. + +See https://github.com/ros2/ros2cli/pull/978 for more information. + +``rclcpp`` +^^^^^^^^^^ + +Action generic client +""""""""""""""""""""" + +Support action generic client, this is used to support actions in rosbag2. + +See https://github.com/ros2/rclcpp/pull/2759 for more details. + +``rosbag2`` +^^^^^^^^^^^ + +Action introspection rosbag2 support +"""""""""""""""""""""""""""""""""""" + +Allow to record and play actions from a rosbag. + +See https://github.com/ros2/rosbag2/pull/1955 for more information. +Design document https://github.com/ros2/rosbag2/pull/1928. + +``rosidl_rust`` +^^^^^^^^^^^^^^^ + +Added ``rosidl_rust`` +""""""""""""""""""""" + +A Rust idl generator was added to the list of default code generators. + +See https://github.com/ros2/ros2/pull/1674 for more details. + +``ros2`` +^^^^^^^^ + +Switch to using Pixi/Conda for Windows +"""""""""""""""""""""""""""""""""""""" + +This allows to easily manage dependencies, and to update them in the future. +The installation process is significantly simplified. +Instead of dozens of steps to install dependencies, it is just a couple of commands. +It is much easier to update dependencies. +The dependencies are installed in individual workspaces, with no “global” installation. + +See https://github.com/ros2/ci/pull/802 and https://github.com/ros2/ros2/pull/1642 for more details. +Visit :doc:`Windows source install instructions <../Installation/Alternatives/Windows-Development-Setup>` to install it on Windows. + +Support topic instances in DDS topics +""""""""""""""""""""""""""""""""""""" + +Topic instances are a way of multiplexing the transmission of updates of several objects of the same logical kind over the same resource, i.e. the topic. + +See https://github.com/ros2/ros2/issues/1538 for more information. +You can also check the documentation: https://github.com/ros2/design/pull/340/files. + Changes since the Jazzy release ------------------------------- +``common_interfaces`` +^^^^^^^^^^^^^^^^^^^^^ + +Added NV12 to pixel formats +""""""""""""""""""""""""""" + +Added NV12 to pixel formats, which is a common output format of hardware-accelerated decoders + +See https://github.com/ros2/common_interfaces/pull/253 for more details. + +``rmw_connextdds_cpp`` +^^^^^^^^^^^^^^^^^^^^^^ + +Version bumped to 7.3 +""""""""""""""""""""" + +The RTI Connext DDS version was bumped to 7.3.0. + +See https://github.com/ros2/ci/pull/811 for more details. + +``Connextmicro`` +^^^^^^^^^^^^^^^^ + +deprecated Connextmicro +""""""""""""""""""""""" + +The RTI Connext Micro RMW package, ``rmw_connextddsmicro``, is going to stop receiving updates in Kilted Kaiju, and be removed in a future ROS 2 release. + +See https://github.com/ros2/rmw_connextdds/pull/182 for more information. + +``rosidl_dynamic_typesupport`` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Removing support for float128 +""""""""""""""""""""""""""""" + +Removed support for float128 because there are inconsistencies in the definition. + +See https://github.com/ros2/rosidl_dynamic_typesupport/issues/11 for more details. + +``rmw_fastrtps_cpp`` +^^^^^^^^^^^^^^^^^^^^ + +Renaming package from fastrtps to fastdds +""""""""""""""""""""""""""""""""""""""""" + +``fastrtps`` was renamed to ``fastdds``. +The names of the rmw implementations stay the same. +XML Profile ENV strings will change. + +See https://github.com/ros2/ros2/pull/1641 for more details. + ament_target_dependencies is deprecated ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -85,6 +227,25 @@ If the ``model`` launch configuration was set to ``my_model``, this would result For more information, see `ros2/launch#835 `__ and `ros2/launch#838 `__. +``rmw_zenoh_cpp`` +^^^^^^^^^^^^^^^^^ + +``Tier 1`` +"""""""""" + +The ``rmw_zenoh_cpp`` is now considered Tier 1. +There are many PRs (summarized in `ros2/rmw_zenoh#265 `__) in the ROS 2 core packages, such as: + + * Make the rmw pass all core tests. + * Implement and document security + * Make it work in the Tier 1 platforms. + * Added Quality declarations + * Added to REP 2005 + * A dedicated nightly CI job + * Among others + +For more information see https://github.com/ros2/rmw_zenoh/issues/265. + Development progress --------------------