ros-galactic-joint-trajectory-controller (1.5.1-1focal) focal; urgency=high

  * [backport] Fix for high CPU usage by JTC in gzserver (#428 <https://github.com/ros-controls/ros2_controllers/issues/428>) (#437 <https://github.com/ros-controls/ros2_controllers/issues/437>)
    * Change type cast wall timer period from second to nanoseconds.
    create_wall_timer() expects delay in nanoseconds (duration object) however the type cast to seconds will result in 0 (if duration is less than 1s) and thus causing timer to be fired non stop resulting in very high CPU usage.
    * Reset smartpointer so that create_wall_timer() call can destroy previous trajectory timer.
    node->create_wall_timer() first removes timers associated with expired smartpointers before servicing current request.  The JTC timer pointer gets overwrite only after the create_wall_timer() returns and thus not able to remove previous trajectory timer resulting in upto two timers running for JTC during trajectory execution.  Althougth the previous timer does nothing but still get fired.
  * Contributors: Arshad Mehmood

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 22 Sep 2022 23:00:00 -0000

ros-galactic-joint-trajectory-controller (1.5.0-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 02 Aug 2022 23:00:00 -0000

ros-galactic-joint-trajectory-controller (1.4.0-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 23 Feb 2022 00:00:00 -0000

ros-galactic-joint-trajectory-controller (1.3.0-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 11 Jan 2022 00:00:00 -0000

ros-galactic-joint-trajectory-controller (1.2.0-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 29 Dec 2021 00:00:00 -0000

ros-galactic-joint-trajectory-controller (1.1.0-1focal) focal; urgency=high

  * Move interface sorting into ControllerInterface (#259 <https://github.com/ros-controls/ros2_controllers/issues/259>)
  * Revise for-loop style (#254 <https://github.com/ros-controls/ros2_controllers/issues/254>)
  * Contributors: bailaC

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 24 Oct 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (1.0.0-1focal) focal; urgency=high

  * Remove compile warnings. (#245 <https://github.com/ros-controls/ros2_controllers/issues/245>)
  * Add time and period to update function (#241 <https://github.com/ros-controls/ros2_controllers/issues/241>)
  * Quickfix 🛠: Correct confusing variable name (#240 <https://github.com/ros-controls/ros2_controllers/issues/240>)
  * Unify style of controllers. (#236 <https://github.com/ros-controls/ros2_controllers/issues/236>)
  * Change test to work with Foxy and posterior action API (#237 <https://github.com/ros-controls/ros2_controllers/issues/237>)
  * ros2_controllers code changes to support ros2_controls issue #489 <https://github.com/ros-controls/ros2_controllers/issues/489> (#233 <https://github.com/ros-controls/ros2_controllers/issues/233>)
  * Removing Boost from controllers. (#235 <https://github.com/ros-controls/ros2_controllers/issues/235>)
  * refactor get_current_state to get_state (#232 <https://github.com/ros-controls/ros2_controllers/issues/232>)
  * Contributors: Bence Magyar, Denis Štogl, Márk Szitanics, Tyler Weaver, bailaC

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 28 Sep 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.5.0-1focal) focal; urgency=high

  * Add auto declaration of parameters. (#224 <https://github.com/ros-controls/ros2_controllers/issues/224>)
  * Bring precommit config up to speed with ros2_control (#227 <https://github.com/ros-controls/ros2_controllers/issues/227>)
  * Add initial pre-commit setup. (#220 <https://github.com/ros-controls/ros2_controllers/issues/220>)
  * Enable JTC for hardware having offset from state measurements (#189 <https://github.com/ros-controls/ros2_controllers/issues/189>)
    * Avoid "jumps" with states that have tracking error. All test are passing but separatelly. Is there some kind of timeout?
    * Remove allow_integration_flag
    * Add reading from command interfaces when restarting controller
  * Reduce docs warnings and correct adding guidelines (#219 <https://github.com/ros-controls/ros2_controllers/issues/219>)
  * Contributors: Bence Magyar, Denis Štogl, Lovro Ivanov

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 29 Aug 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.4.1-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 07 Jul 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.4.0-1focal) focal; urgency=high

  * Force torque sensor broadcaster (#152 <https://github.com/ros-controls/ros2_controllers/issues/152>)
    * Stabilize joint_trajectory_controller tests
    * Add  rclcpp::shutdown(); to all standalone test functions
  * Fixes for Windows (#205 <https://github.com/ros-controls/ros2_controllers/issues/205>)
    * Export protected joint trajectory controller functions
  * Fix deprecation warnings on Rolling, remove rcutils dependency (#204 <https://github.com/ros-controls/ros2_controllers/issues/204>)
  * Fix parameter initialisation for galactic (#199 <https://github.com/ros-controls/ros2_controllers/issues/199>)
    * Fix parameter initialisation for galactic
    * Fix forward_command_controller the same way
    * Fix other compiler warnings
    * Missing space
  * Fix rolling build (#200 <https://github.com/ros-controls/ros2_controllers/issues/200>)
    * Fix rolling build
    * Stick to printf style
    * Add back :: around interface type
    Co-authored-by: Bence Magyar <mailto:bence.magyar.robotics@gmail.com>
  * Contributors: Akash, Bence Magyar, Denis Štogl, Tim Clephas, Vatan Aksoy Tezer

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 27 Jun 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.3.1-1focal) focal; urgency=high

  * Reset external trajectory message upon activation (#185 <https://github.com/ros-controls/ros2_controllers/issues/185>)
    * Reset external trajectory message to prevent preserving the old goal on systems with hardware offsets
    * Fix has_trajectory_msg() function: two wrongs were making a right so functionally things were fine
  * Contributors: Nathan Brooks, Matt Reynolds

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sat, 22 May 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.3.0-1focal) focal; urgency=high

  * joint_trajectory_controller publishes state in node namespace (#187 <https://github.com/ros-controls/ros2_controllers/issues/187>)
  * [JointTrajectoryController] Enable position, velocity and acceleration interfaces (#140 <https://github.com/ros-controls/ros2_controllers/issues/140>)
    * joint_trajectory_controller should not go into FINALIZED state when fails to configure, remain in UNCONFIGURED
  * Contributors: Bence Magyar, Denis Štogl

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 20 May 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.2.1-1focal) focal; urgency=high

  * Migrate from deprecated controller_interface::return_type::SUCCESS -> OK (#167 <https://github.com/ros-controls/ros2_controllers/issues/167>)
  * [JTC] Add link to TODOs to provide better trackability (#169 <https://github.com/ros-controls/ros2_controllers/issues/169>)
  * Fix JTC segfault (#164 <https://github.com/ros-controls/ros2_controllers/issues/164>)
    * Use a copy of the rt_active_goal to avoid segfault
    * Use RealtimeBuffer for thread-safety
  * Add basic user docs pages for each package (#156 <https://github.com/ros-controls/ros2_controllers/issues/156>)
  * Contributors: Bence Magyar, Matt Reynolds

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 02 May 2021 23:00:00 -0000

ros-galactic-joint-trajectory-controller (0.2.0-1focal) focal; urgency=high

  * Use ros2 contol test assets (#138 <https://github.com/ros-controls/ros2_controllers/issues/138>)
    * Add description to test trajecotry_controller
    * Use ros2_control_test_assets package
    * Delete obsolete components plugin export
  * Contributors: Denis Štogl

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sat, 06 Feb 2021 00:00:00 -0000

ros-galactic-joint-trajectory-controller (0.1.2-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 07 Jan 2021 00:00:00 -0000

ros-galactic-joint-trajectory-controller (0.1.1-1focal) focal; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 06 Jan 2021 00:00:00 -0000

ros-galactic-joint-trajectory-controller (0.1.0-1focal) focal; urgency=high

  * Remove lifecycle node controllers (#124 <https://github.com/ros-controls/ros2_controllers/issues/124>)
  * Use resource manager on joint trajectory controller (#112 <https://github.com/ros-controls/ros2_controllers/issues/112>)
  * Use new joint handles in all controllers (#90 <https://github.com/ros-controls/ros2_controllers/issues/90>)
  * More jtc tests (#75 <https://github.com/ros-controls/ros2_controllers/issues/75>)
  * remove unused variables (#86 <https://github.com/ros-controls/ros2_controllers/issues/86>)
  * Port over interpolation formulae, abort if goals tolerance violated (#62 <https://github.com/ros-controls/ros2_controllers/issues/62>)
  * Partial joints (#68 <https://github.com/ros-controls/ros2_controllers/issues/68>)
  * Use clamp function from rcppmath (#79 <https://github.com/ros-controls/ros2_controllers/issues/79>)
  * Reorder incoming out of order joint_names in trajectory messages (#53 <https://github.com/ros-controls/ros2_controllers/issues/53>)
  * Action server for JointTrajectoryController (#26 <https://github.com/ros-controls/ros2_controllers/issues/26>)
  * Add state_publish_rate to JointTrajectoryController (#25 <https://github.com/ros-controls/ros2_controllers/issues/25>)
  * Contributors: Alejandro Hernández Cordero, Anas Abou Allaban, Bence Magyar, Denis Štogl, Edwin Fan, Jordan Palacios, Karsten Knese, Victor Lopez

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 23 Dec 2020 00:00:00 -0000


