Changelog for package rosbot_controller

1.3.1 (2026-10-26)

• Arm on its own controller_manager (HW + sim), full MoveIt model (#199)

  * Run manipulator under its own controller_manager on HW ros2_control loads hardware all-or-nothing, so a missing arm on a manipulation config took the drive down with it. Arm controllers, hardware state and arm_control now live on manipulator_controller_manager (breaking for tools that addressed them on controller_manager); simulation is unchanged.

  * Two controller_managers in sim too; full MoveIt model Simulation now hosts manipulator_controller_manager in a second gz_ros2_control plugin, so names and tooling match hardware; the manipulator_ros2_control / spawn_controllers launch args and the arm_control controller_manager argument are gone. move_group and servo read robot_description from robot_state_publisher instead of building it from manipulation.yaml, which left manipulation_pro's bracket + ZED out of collision checking. Existing config_dir copies need the updated rosbot_xl.srdf.

• Contributors: Rafal Gorecki

1.3.0 (2026-09-24)

• Publish odometry at 50 Hz, run EKF at 50 Hz
• Run the Dynamixel hardware component asynchronously (#196) Under load the Dynamixel read blocks 13-20 ms, overrunning the 10 ms budget of the 100 Hz controller_manager loop; JTC then skips trajectory and the arm jumps. Neither the bus nor the protocol is at fault. is_async moves the read off the control loop: HW-measured 7 overruns in 8 min without it, 0 with it. Needs a local copy of the upstream ros2_control xacro differing by that attribute alone. Also drops state_publish_rate, gone from Jazzy's joint_trajectory_controller.
• Add servo_enabled arg to skip servo_node when arm is idle servo_node isn't a lifecycle node -- its collision-checking loop runs continuously once started (~91% of one CPU core, measured 2026-08-17) and can't be paused. Defaults to arm_activate but is independently overridable.
• Contributors: Rafal Gorecki, rafal-gorecki

1.2.4 (2026-09-01)

1.2.3 (2026-08-26)

1.2.2 (2026-08-25)

1.2.1 (2026-08-14)

1.2.0 (2026-08-12)

• Merge pull request #188 from husarion/feature/twist-mux-controller Feature/twist mux controller
• Add twist_mux_controller for cmd_vel priority arbitration Gamepad and nav2 both published to /cmd_vel with nothing arbitrating between them. The mux chains onto the drive controller's reference interfaces, so the choice is resolved inside the 100 Hz control loop instead of over topics: manual (100) > autonomous (10) > cmd_vel (1), with 0.2 s fallthrough. Needs the husarion_controllers revision that adds twist_mux_controller's drive_controller parameter (pin bumped) — the two drive controllers name their reference interfaces differently and an older revision leaves the mux unable to claim them, so the robot comes up unresponsive. Jazzy only: humble's diff_drive_controller is not chainable.
• Contributors: Rafal Gorecki, rafal-gorecki

1.1.1 (2026-06-29)

• controller: make controller_manager spawn timeout a launch arg (default 60s) The controller spawner hardcoded --controller-manager-timeout 20. On slower SBCs — e.g. Raspberry Pi 5 on ROSbot 3 — the 100 Hz control loop plus camera/bridge startup contention can exceed 20 s, so the spawner times out and leaves the drive / imu controllers unconfigured (robot won't drive until they are activated manually). The NUC-based ROSbot XL has enough headroom to hit 20 s. Expose controller_manager_timeout as a launch arg (default 60) in controller.yaml + manipulator.yaml and thread it through the manipulator include, so slow hosts get more time and it stays tunable per deployment.
• Contributors: dominikn

1.1.0 (2026-06-15)

• Add MAVLink backend alongside micro-ROS (runtime-switch firmware) (#175)
• Namespace audit + bringup quieting + docs/test cleanup (#173)
• Tests: CI coverage for every rosbot_* package (#171)
• Refactor rosbot_moveit: joy2servo migration + Cartesian arm control (#170)
• Shutdown driver when ros2_control_node exits
• Add rosbot firmware 1.0.1
• Contributors: Rafal Gorecki, rafal-gorecki

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