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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

0.11.0 - 2024-11-04

Added

  • duration:
    • Wrapper for importing Duration class in the same way as rclpy.
  • helpers:
    • Publisher, Subscriber and Timer decorators for ROS1 nodes.
    • Execute function to create node instance and spin it.
  • qos:
    • Enum for HistoryPolicy.
  • uninode:
    • Support for ServiceProxy/create_client.
    • Very limited support for declare_parameter() and get_parameter().

Deprecated

  • uninode:
    • Core.duration is deprecated. Use autopsy.duration instead.

Fixed

  • reconfigure:
    • Remove **{} to make code Py2 compatible.

0.10.7 - 2024-04-22

Added

  • uninode:
    • Node.__init__() now allows to pass **kwargs that are forwarded to the base class initializer.
    • ROS1: Node class support for **kwargs.

0.10.6 - 2024-04-22

Changed

  • unicode:
    • Raise an ImportError exception when no suitable ROS package is found.

0.10.5 - 2024-04-19

Added

  • reconfigure
    • In ROS2, FloatingPointRange and IntegerRange are used to store the variable limits and show the slider in GUI.

0.10.4 - 2024-04-09

Added

  • reconfigure
    • ParameterServer.getValue() to obtain the parameter value.

0.10.3 - 2024-04-09

Added

  • Before building the project, all uncommitted changes are stashed.

Fixed

  • uninode
    • Node.Time should now be properly used everywhere.

0.10.2 - 2024-03-11

Added

  • time:
    • Keyword-only argument to @duration to report summary only every interval.
    • A warning is generated when the argument is not used.
    • interval can be set to None in order to disable automatic statistics.
    • Argument filename that stores every measurement into the file.

Changed

  • time:
    • Timer summary now also contains minimum value.

0.10.1 - 2024-03-07

Fixed

  • duration:
    • Remove * from arguments to support Py2.

0.10.0 - 2024-03-04

Added

  • qos:
    • Wrapper for importing the QoS settings in the same way as rclpy.
  • time:
    • New module for measuring duration of code snippets. Port from rosmeasure ROS package.
  • uninode
    • Module duration with class Duration that is used for timestamps in the messages.

Fixed

  • uninode
    • Time() now works properly in ROS2.

0.9.5 - 2023-10-17

Fixed

  • uninode
    • Time.now() is now properly set in Python 3.

0.9.4 - 2023-10-11

Added

  • uninode:
    • Function wait_for_message() with ROS2 port from rolling.

0.9.3 - 2023-09-25

Fixed

  • uninode
    • Add missing import of rospy.

0.9.2 - 2023-09-08

Fixed

  • reconfigure
    • ROS_VERSION and rospy is now properly imported from unicore.

0.9.1 - 2023-09-07

Changed

  • uninode:
    • Time.to_msg() now returns data type 'time' in ROS1 instead of the message.

Fixed

  • uninode:
    • ROS2 functions properly handle integers instead of QoSProfile.
    • Time.to_msg() handles data properly.
    • get_time() returns float instead of long.

0.9.0 - 2023-09-05

Added

  • unicore:
    • New compatibility layer to cover node spinning and initialization.
    • Object Core:
      • Functions: spin(), spin_once(), spin_until_future_complete(), init(), shutdown().
    • Decorators: @ros1_only and @ros2_only with an optional argument to use different function instead.
  • uninode:
    • Parameter tcp_nodelay is now supported for both Publisher and Subscriber. It translates to BEST_EFFORT and vice versa.
    • QoS ReliabilityPolicy is in ROS1.

Changed

  • uninode:
    • ROS_VERSION is determined inside unicore.

0.8.1 - 2023-08-08

Fixed

  • uninode:
    • AttributeError caused by not importing Time object for ROS1.

0.8.0 - 2023-07-20

Added

  • reconfigure:
    • Namespace is now used for recognizing whether the parameter being updated belongs to the current ParameterList. (This is required for ROS2.)
  • uninode:
    • Functions for obtaining current ROS time: get_time(), Time.now(), and get_clock().now().
    • Logging support using log* and get_logger().* functions.

Changed

  • reconfigure:
    • [BREAKING CHANGE] ROS1: Node name is automatically prepended to the namespace.

0.7.0 - 2023-04-27

Added

  • reconfigure:
    • ROS2 is now supported.

Removed

  • uninode:
    • Node no longer produces warnings when using unimplmented functions.

0.6.0 - 2022-08-24

Added

  • reconfigure:
    • Parameters can be now used within conditions.
    • Implementation of __contains__ to support if ... in P.
    • update() now takes optional argument only_existing (def. False) to only update existing parameters.
    • (ROS1 only) Parameters and their values are exposed to the ROS Parameter Server.
    • link(ConstrainedP, ConstrainedP) to link two parameters together. First cannot be larger then the second one.

0.5.1 - 2022-03-23

Added

  • reconfigure:
    • update() now supports list(tuple(str, any)) for ordered addition of multiple parameters.

Updated

  • Readme now contains details about update().

0.5.0 - 2022-03-22

Added

  • reconfigure:
    • Property callback that runs associated function on parameter change (dynamic change only).
    • Function reconfigure() can be called with an optional parameter to set the namespace of the ParameterServer.
    • Operators for the parameters (at least most of them).
    • Function reconfigure() can be passed node object to support (hopefully) ROS2.
  • uninode:
    • QoSProfile compatible implementation for ROS1.
    • Support for latched publishers.
    • ROS services.
    • Function get_name() for ROS1 version of the module.
    • ROS_VERSION variable.
    • Functions not implemented are called in the current ROS version with warning.
  • Documentation for the package.

Changed

  • reconfigure:
    • Parameters are now kept in the same order as registered.

Fixed

  • reconfigure:
    • Internal class variables are properly initialized so the data are not shared between instances.
    • Bool parameter is now correctly registered as boolean instead of integer.

0.4.1 - 2022-03-17

Fixed

  • uninode: Default value of queue_size for Subscriber is set to 10.

0.4.0 - 2022-03-08

Added

  • uninode utility to create a compatibility layer for ROS1-ROS2 nodes.
  • release.sh to automatically create new release (from ng_trajectory).
  • Makefile for fast working with the package (from ng_trajectory).
  • Optional dependency on rclpy.
  • package.xml, CMakeLists.txt, resource/ and setup.cfg to be able to build the package inside the ROS workspace.
  • License file.

Changed

  • rospy dependency is optional.

0.3.0 - 2021-06-29

Added

  • Support for enumerated values in reconfigure.

0.2.0 - 2021-06-28

Changed

  • Completely rewritten reconfigure utility. Now it is much simpler to use, but it is not directly backwards compatible.

0.1.0 - 2021-04-08

Added

  • reconfigure utility to expand and enhance usability of dynamic reconfigure in Python ROS nodes.