Changelog for package rosbot_description

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)

• 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.
• Contributors: Rafal Gorecki

1.2.4 (2026-09-01)

1.2.3 (2026-08-26)

• Add ROSbot 3 pro config + move camera_mount to custom yaml component (#194)

  * Add ROSbot 3 pro configuration (OAK-D Pro + RPLIDAR S2) basic stays OAK-D Lite + RPLIDAR C1; pro is the ROSbot 3 PRO sensor set, mirroring the existing basic/telepresence/autonomy split for rosbot_xl.

  * Move camera_mount to a custom yaml component for ROSbot XL Was built into rosbot_xl_macro.urdf.xacro behind an internal include_camera_mount toggle; now telepresence.yaml/autonomy.yaml add it as a [type: custom]{.title-ref} component (like man01_bracket), with camera_mount_angle_1/2 read straight off that yaml entry via the new husarion_components_description [component]{.title-ref} passthrough (bumped pin: f059bb6 -> 5f783f8).

  • Use canonical component names instead of SKU codes in manipulation configs
  • Bump firmware

  * Fix test_spawn_robot_configuration_choices to cover both models configuration is now a shared arg (rosbot: basic/pro/custom, rosbot_xl: full set) since the ROSbot 3 pro config landed, but the test still only diffed spawn_robot.yaml's choices against rosbot_xl/*.yaml, so adding [pro]{.title-ref} (which lives under config/rosbot/) tripped it as drift.

• Contributors: Rafal Gorecki

1.2.2 (2026-08-25)

• Fix tf_bridge remap tf topic bug
• Contributors: rafal-gorecki

1.2.1 (2026-08-14)

• Add ZED Mini + MAN01 bracket mount to manipulation_pro (#192)

  * Add ZED Mini + MAN01 bracket to manipulation_pro Custom component (own mesh) mounted on link5, oriented so the widest mounting plate faces up with its long edge along Y. Collision uses 4 boxes fitted to the mesh cross-sections instead of the visual mesh.

  * Consistent man01_bracket naming, convex-hull STL for collision Renames the bracket macro/mesh/component/links to man01_bracket throughout (was a zed_mini_man01_bracket/bracket mix). CAM05 attaches to a dedicated camera_mount_link on the bracket instead of duplicating xyz/rpy on both components. Collision switches from 4 hand-fitted boxes to a single convex-hull STL (182 faces vs 9228 in the visual mesh) - simpler to maintain and still fully encloses the mesh.

• Contributors: Rafal Gorecki

1.2.0 (2026-08-12)

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