From 8f7374faf482e83c94c0a477bfbe8b2e672f241c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 26 Aug 2024 15:57:40 +0200 Subject: [PATCH] Add breaking changes to migration notes (#1718) --- doc/migration.rst | 2 ++ doc/release_notes.rst | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/migration.rst b/doc/migration.rst index 8e1ca096f1..255db9b8ae 100644 --- a/doc/migration.rst +++ b/doc/migration.rst @@ -6,6 +6,7 @@ controller_interface ******************** * The changes from `(PR #1694) `__ will affect how the controllers will be loading the parameters. Defining parameters in a single yaml file and loading it to the controller_manager node alone will no longer work. In order to load the parameters to the controllers properly, it is needed to use ``--param-file`` option from the spawner. This is because the controllers will now set ``use_global_arguments`` from `NodeOptions `__ to false, to avoid getting influenced by global arguments. +* With (`#1683 `_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 `_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles. controller_manager ****************** @@ -73,3 +74,4 @@ controller_manager hardware_interface ****************** * ``test_components`` was moved to its own package. Update the dependencies if you are using them. (`#1325 `_) +* With (`#1683 `_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 `_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles. diff --git a/doc/release_notes.rst b/doc/release_notes.rst index d0fe7b5962..50583b3bf4 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -22,7 +22,7 @@ For details see the controller_manager section. * A method to get node options to setup the controller node #api-breaking (`#1169 `_) * Export state interfaces from the chainable controller #api-breaking (`#1021 `_) * All chainable controllers must implement the method ``export_state_interfaces`` to export the state interfaces, similar to ``export_reference_interfaces`` method that is exporting the reference interfaces. -* The controllers will now set ``use_global_arguments`` from `NodeOptions `__ to false, to avoid getting influenced by global arguments (Issue : `#1684 `_) (`#1694 `_).From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used. +* The controllers will now set ``use_global_arguments`` from `NodeOptions `__ to false, to avoid getting influenced by global arguments (Issue : `#1684 `_) (`#1694 `_). From now on, in order to set the parameters to the controller, the ``--param-file`` option from spawner should be used. * With (`#1683 `_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 `_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles. controller_manager