From 7f9423e9f3c529ffc1e553a5f309c9f0688e0a50 Mon Sep 17 00:00:00 2001 From: Manuel Muth Date: Mon, 26 Aug 2024 13:42:58 +0200 Subject: [PATCH] Update doc/release_notes.rst Co-authored-by: Sai Kishor Kothakota --- doc/release_notes.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/doc/release_notes.rst b/doc/release_notes.rst index 496791c645..d0fe7b5962 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -21,7 +21,8 @@ For details see the controller_manager section. * Pass controller manager update rate on the init of the controller interface (`#1141 `_) * 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. +* 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. * 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