ROS 2 Galactic Geochelone (codename ‘galactic’; May, 2021)¶
Table of Contents
Galactic Geochelone is the seventh release of ROS 2.
It is now possible to specify different logging levels for different loggers on the command line:
ros2 run demo_nodes_cpp talker --ros-args --log-level WARN --log-level talker:=DEBUG
The above command sets a global log level of WARN, but sets the log level of the talker node messages to DEBUG.
--log-level command-line option can be passed an arbitrary number of times to set different log levels for each logger.
The Python code that used to live in tf2_ros has been moved into its own package named tf2_ros_py.
Any existing Python code that depends on tf2_ros will continue to work, but the package.xml of those packages should be amended to
exec_depend on tf2_ros_py.
Change in spin_until_future_complete template parameters¶
The first template parameter of
Executor::spin_until_future_complete was the future result type
ResultT, and the method only accepted a
In order to accept other types of futures (e.g.:
std::future), that parameter was changed to the future type itself.
In places where a
spin_until_future_complete call was relying on template argument deduction, no change is needed.
If not, this is an example diff:
std::shared_future<MyResultT> future; ... -executor.spin_until_future_complete<MyResultT>(future); +executor.spin_until_future_complete<std::shared_future<MyResultT>>(future);