Changelog for package kompass

0.8.0 (2026-10-20)

• (chore) Updates sugarcoat minimum required version
• (fix) Fixes fetching latest robot state in planner and handles OMPL approximate solutions
• (fix) Adds timeout of robot state check in Planner reached_end method
• (fix) Adds a flag in the MissionManager to track if the routine cursor is lost
• (fix) Adds clearing for callback last message on Planner goal clear
• (fix) Forwards mission waypoint to the planner as they come as the planner already handles its own TFs
• (fix) Ensures the robot is stopped when controller core reports that end is reached
• (fix) Adds additional cleanup to previous goal points on planner action end
• (fix) Adds wait for robot state in planner reached_end check
• (chore) Fixes tolerances in turtlebot recipe
• (fix) Respects a TwistArray time_step and ensure safety margin when executing a rotate in place action
• (fix) Adds missing TF for PointStamped callback
• (fix) Adds missing TF to world frame for goal point Planner input required in TIMED/Event mode
• (fix) Checks for node health when waiting for an input, ends the loop on node shutting down
• (chore) Fixes setting algorithm string name and not class name in health status message
• (fix) Corrects path length calculation
• (chore) Removes the dead Monitor subclass
• (fix) Builds the planner's own action client once instead of per trigger
• (fix) Fixes minimum tolernce check in planner to honor the lowest default
• (fix) Fixes execution of return_to_start policy on mission timeout
• (fix) Correctly handles sending local vs global frame in rgbd follower, local by default unless requested in config
• (fix) Checks robot stopping using location change when velocity feedback is not available
• (fix) Refreshes the safety verdict every tick in DriveManager to avoid stale emergency_stop flags
• (fix) Reads a clicked waypoint from the UI node
• (fix) Clears Controller core path when tracking stops and ends the tracking goal
• (fix) Adds a reentrant threading lock to use on every touch of kompass-core controller
• (fix) Ends a mission whose routine cannot be read and bounds the Monitor calls
• (fix) Makes the latched map QoS a default that a recipe or config file can override
• (fix) Applied missing TF to the robot state
• (feature) Adds custom UI Task element for the MissionManager
• (feature) Adds pause/resume to MissionManager and accepts waypoints from the UI
• (fix) Publishes the final mission status once before cleanup, with completed, canceled and aborted status
• (fix) Skips the pause condition at the last waypoint of a mission
• (fix) Adds missing tf2 geometry messages dependency to package.xml
• (fix) Passes global plans to the core without length check, core handles the check
• (feature) Adds UI element for the mission status
• (fix) Re-evaluates the safety check every tick so a stale sensor no longer latches the emergency stop
• (fix) Returns the (bool, str) action contract from the planner trigger_main_action_server action
• (fix) Publishes the global map once with a latched QoS and sets it on the planner when received
• (fix) Adds float conversion for map metadata to avoid errors when int-like values are present
• (fix) Turns pointcloud filtering min_height into a config param in DriveManager
• (fix) Restrict values to float before publishing twist array
• (fix) Adds stop_timeout param to stop_robot action in DriveManager
• (feature) Adds MissionManager to executable types
• (feature) Adds mission status message
• (refactor) Changes return type of DriveManager component actions to ActionReturnType instead of bool
• (feature) Adds action to step the robot in DriveManager
• (feature) Adds Controller component action to stop path tracking
• (refactor) Fixes set_algorithm to return ActionReturnType instead of bool
• (feature) Adds MissionManager to Kompass to handle multi-goal missions execution
• (fix) Adds missing _img_size to trackings callback
• (fix) Fixes vision follower to avoid blocking an RGB follower for non-available depth info
• (fix) Handles -inf values from range sensors and treating them as nearby obstacles
• (fix) Blocks command publishing in DriveManager if collision checker is not initialized
• (fix) Fixes odom callback _process function for correct calculation of speed
• (refactor) Standardizes angular ctrl limit params with sugarcoat and core
• (refactor) Makes the name of min_vel param consistent with core and sugarcoat
• (feature) Adds handling range properly in drive manager and removes bare floats
• (fix) Waits for depth every time inputs are updated in vision

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