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ROS 2 Dashing Diademata (codename ‘dashing’; May 31st, 2019)

Dashing Diademata will be the fourth release of ROS 2.

Supported Platforms

To be determined.

New features in this ROS 2 release

During the development the Dashing meta ticket on GitHub contains an up-to-date state of the ongoing high level tasks as well as references specific tickets with more details.

Timeline before the release

A few milestone leading up to the release:

Mon. Apr 8th (alpha)
First releases of core packages available. Testing can happen from now on (some features might not have landed yet).
Thu. May 2nd
API freeze for core packages
Mon. May 6th (beta)
Updated releases of core packages available. Additional testing of the latest features.
Thu. May 16th
Feature freeze. Only bug fix releases should be made after this point. New packages can be released independently.
Mon. May 20th (release candidate)
Updated releases of core packages available.
Wed. May 29th
Freeze rosdistro. No PRs for Dashing on the rosdistro repo will be merged (reopens after the release announcement).

Changes since the Crystal release

ament_cmake

The CMake function ament_index_has_resource was returning either TRUE or FALSE. As of this release it returns either the prefix path in case the resource was found or FALSE.

If you are using the return value in a CMake condition like this:

ament_index_has_resource(var ...)
if(${var})

you need to update the condition to ensure it considers a string value as TRUE:

if(var)

rosidl

Until Crystal each message generator package registered itself using the ament_cmake extension point rosidl_generate_interfaces and was passed a set of .msg / .srv / .action files. As of Dashing the message generation pipeline is based on .idl files instead.

Any message generator package needs to change and register itself using the new extension point rosidl_generate_idl_interfaces which passes only .idl files instead. The message generators for the commonly supported languages C, C++, and Python as well as the typesupport packages for introspection, FastRTPS, Connext and OpenSplice have already been updated (see ros2/rosidl#334). The CMake code calling rosidl_generate_interfaces() can either pass .idl files directly or pass .msg / .srv / .action which will then internally be converted into .idl files before being passed to each message generator.

The format of .msg / .srv / .action files is not being evolved in the future. The mapping between .msg / .srv / .action files and .idl files is described in this design article. A second design article describes the supported features in .idl files. In order to leverage any of the new features existing interfaces need to be converted (e.g. using the command line tools msg2idl / srv2idl / action2idl).

rosidl_generator_cpp

The C++ data structures generated for messages, services and actions provide setter methods for each field. Until Crystal each setter returned a pointer to the data structure itself to enable the named parameter idiom. As of Dashing these setters return a reference instead since that seems to be the more common signature as well as it clarifies that the returned value can’t be a nullptr.

launch

The launch_testing package caught up with the launch package redesign done in Bouncy Bolson. The legacy Python API, already moved into the launch.legacy submodule, has thus been deprecated and removed.

See launch examples and documentation for reference on how to use its new API.

See demos tests for reference on how to use the new launch_testing API.

rmw

Changes since the Crystal Clemmys release:

  • New API in rmw, a fini function for rmw_context_t:
  • Modification of rmw, now passes rmw_context_t to rmw_create_wait_set:

Known Issues

None yet.