Changelog

Forthcoming

2.0.1 (2019-12-03)

  • [trees] periodically publish snapshots, #131,
  • [trees] permit setup visitors, provide a default with timings, #129,
  • [trees] bugfix non-infinite timeout arg getting ignored, #129,
  • [trees] snapshot now publishing tree changed flag and key access info, #128,
  • [utilities] deprecate myargv for rclpy.utilities.remove_ros_args, #130,

2.0.0 (2019-11-20)

  • [blackboards] updated pretty printing to differentiate namespace vs attribute access, #123
  • [blackboards] api updates for namespaced clients, #122,
  • [tests] migrated tests from unittest to pytest
  • [transforms] behaviours for writing to and broadcasting from the blackboard, #121
  • [transforms] add missing mocks and update to latest blackboard api, #125

1.2.1 (2019-10-08)

  • [trees] bugfix KeyError on publication of missing keys, #118
  • [utilities] a ros myargv stipper, a’la ROS1 style, until something is available upstream

1.2.0 (2019-10-02)

  • [blackboards] sweeping changes to accomodate the new blackboards with tracking, #109
  • [backend] ensure tree modifications are published with an updated timestamp, #100
  • [behaviours] subscriber related behaviours now require qos_profile args, #104
  • [trees] ros parameterisation of the setup timeout, #101
  • [trees] make use of the new DisplaySnapshotVisitor, #102

1.1.2 (2019-08-10)

  • [utilities] permit discovery of multiples with find_topics, #97

1.1.1 (2019-06-22)

  • [tests] add missing tests/__init.py, #94
  • [infra] add missing ros2topic dependency, #94

1.1.0 (2019-06-19)

  • [actions] bugfix action client, don’t cancel if not RUNNING
  • [conversions] bugfix msg_to_behaviour for decorators
  • [watchers] bugfix tree-watchers dot-graph to string functionality
  • [watchers] bugfix missing tip in deserialised tree-watcher tree

1.0.0 (2019-04-28)

Stripped down and rebuilt for ROS2:

  • [behaviours] the familiar subscriber and action client behaviours
  • [blackboard] the exchange, mostly unmodified
  • [infra] colcon build environment
  • [trees] simpler communications, just one serialised tree snapshot, watchers do the rest
  • [watchers] revamped ‘blackboard’ and new ‘tree’ watcher

What’s missing:

  • [logging] the basic mechanisms have moved to py_trees, the rosbag implementation is to come

0.5.13 (2017-05-28)

  • [doc] add many missing packages to satiate autodoc

0.5.9 (2017-04-16)

  • [doc] add missing rqt-py-trees image
  • [infra] bugfix missing install rule for mock sensors script

0.5.5 (2017-03-31)

  • [infra] missed the py_trees exec dependency, fixed.

0.5.4 (2017-03-25)

  • [docs] faq added
  • [tutorials] 9 - bagging
  • [infra] various dependency fixes for tests and autodoc
  • [tests] fix broken subscrirber test

0.5.3 (2017-03-21)

  • [tutorials] 8 - dynamic loading, insertion and execution
  • [tutorials] 7 - docking, undocking, cancelling and recovery

0.5.2 (2017-03-19)

  • [infra] add missing actionlib dependencies

0.5.1 (2017-03-19)

  • [tutorials] 6 - context switching
  • [tutorials] re-insert missing images

0.5.0 (2017-02-21)

  • [docs] new and shiny index added
  • [tutorials] qt dashboard support
  • [tutorials] 5 - tree scanning added
  • [tutorials] 4 - tree introspection added
  • [tutorials] 3 - blackboards added
  • [tutorials] 2 - battery low branch added
  • [tutorials] 1 - data gathering added
  • [mock] a mock robot for tutorials and testing
  • [behaviours] action client, battery behaviours added
  • [infra] refactoring for kinetic

Indigo -> Kinetic Changelist

Py Trees ROS API

  • subscribers
    • py_trees.subscribers.SubscriberHandler -> py_trees_ros.subscribers.Handler
    • py_trees.subscribers.CheckSubscriberVariable -> py_trees_ros.subscribers.CheckData
    • py_trees.subscribers.WaitForSubscriberData -> py_trees_ros.subscribers.WaitForData
  • conversions
    • py_trees.converters.convert_type -> py_trees_ros.converters.behaviour_type_to_msg_constant
    • py_trees.converters.convert_status -> py_trees_ros.converters.status_enum_to_msg_constant
    • py_trees.converters.convert_blackbox -> py_trees_ros.converters.blackbox_enum_to_msg_constant
  • blackboard
    • py_trees.ros.blackboard -> py_trees_ros.blackboard.Exchange
    • ~list_blackboard_variables -> ~get_blackboard_variables
    • ~spawn_blackboard_watcher -> ~open_blackboard_watcher
    • ~destroy_blackboard_watcher -> ~close_blackboard_watcher
  • visitors : classes moved from py_trees.trees -> py_trees_ros.visitors

Py Trees ROS Msgs API

  • blackboard services
    • py_trees.msgs.srv.BlackboardVariables -> py_trees_msgs.srv.GetBlackboardVariables
    • py_trees.msgs.srv.SpawnBlackboardWatcher -> py_trees_msgs.srv.OpenBlackboardWatcher
    • py_trees.msgs.srv.DestroyBlackboardWatcher -> py_trees_msgs.srv.CloseBlackboardWatcher

Py Trees

  • program : py-trees-render added
  • imposter : bugfix to permit visitors to the children of a composite original
  • visitors : py_trees.trees -> py_trees.visitors