Changelog for package rosbot_gazebo

1.2.1 (2026-08-14)

1.2.0 (2026-08-12)

• Compose tf_namespace_bridge with robot_state_publisher (#190)

  * Compose tf_namespace_bridge with robot_state_publisher RSP is the highest-frequency /tf publisher in the stack and tf_namespace_bridge is its direct subscriber, so loading both into one rclcpp_components container skips a serialize/DDS hop per transform. Also dedupes the tf_namespace_bridge standalone-node launch block, previously copy-pasted across rosbot_bringup (x2) and rosbot_gazebo, into rosbot_description's node_container — including the config file, identical in all three copies.

  • Bump tf_namespace_bridge

  * Revert composing tf_namespace_bridge with robot_state_publisher LoadComposableNodes lazily creates a shared launch_ros ROSAdapter and registers an OnShutdown handler. rosbot_controller/controller.yaml's ros2_control_node has on_exit: shutdown (deliberate fail-fast), so every exit of it -- including a completely normal shutdown -- fires an extra Shutdown that races the planned one, double-calling ros_adapter.shutdown() and raising "Cannot shutdown a ROS adapter that is not running". That exception interrupts the SIGINT->SIGTERM escalation for the remaining processes, so unrelated ones die via raw signal instead of exiting cleanly. 100% reproducible in CI, and the same symptom shows up independently in navigation2#4722 -- a launch_ros framework interaction, not fixable from our launch files. Keeps the config dedup (rosbot_description is now the sole owner of tf_namespace_bridge.yaml, previously duplicated identically across rosbot_bringup/rosbot_gazebo/rosbot_description) since that part never touched node composition and stayed green throughout.

• Contributors: Rafal Gorecki

1.1.1 (2026-06-29)

1.1.0 (2026-06-15)

• Use human date-time with ms in pinned console log format
• Pin console log format; migrate LED-strip nodes to C++ (#181)
• Drop laser_filter; reliable FTDI USB firmware flashing (#180)
• Namespace audit + bringup quieting + docs/test cleanup (#173)
• Tests: CI coverage for every rosbot_* package (#171)
• Bump tf_namespace_bridge and clean up gazebo launches
• Bump tf_namespace_bridge with frame_filters parameters
• Contributors: Rafal Gorecki, rafal-gorecki

1.0.0 (2026-04-21)

• New firmware with microros namespace pre-communication support (#168)

  - New firmware ([v1.0.0-jazzy]{.title-ref}) for ROSbot 3 and ROSbot XL enabling namespace configuration via serial pre-communication before microros agent starts

  - `configure_robot` script — serial pre-communication node: sends namespace to MCU over FTDI/UART, verifies firmware version, waits for ACK

  - Separated bringup — [bringup.yaml]{.title-ref} dispatches to [rosbot.yaml]{.title-ref} / [rosbot_xl.yaml]{.title-ref}; ROSbot XL gets dedicated nodes: [battery_alert]{.title-ref}, [led_strip_car_wave]{.title-ref}

  • `tf_namespace_bridge` — bridges namespaced [/tf]{.title-ref} to global [/tf]{.title-ref} and [/tf_static]{.title-ref}
  • `microros_mode` arg — allows overriding default communication mode (serial/udp)
  • Controller tuning: updated ICR, wheel params and acceleration limits for both robots
  • Renamed [FirmwareFlasherUSB/UART]{.title-ref} → [McuManagerFTDI/UART]{.title-ref} with added [reset_mcu()]{.title-ref}

  - `battery_alert`: switched from [aplay]{.title-ref} to [paplay]{.title-ref} with configurable [audio_device]{.title-ref} ROS parameter (snap-friendly via [audio-playback]{.title-ref} interface); [pulseaudio-utils]{.title-ref} dep commented pending [ros/rosdistro#50811](https://github.com/ros/rosdistro/pull/50811)

  - Fixed: argparse [required=True]{.title-ref} ignoring [os.getenv()]{.title-ref} default in [configure_robot]{.title-ref} and [flash_firmware]{.title-ref}

  • Fixed: namespace validation before serial write in [configure_robot]{.title-ref}
  • Fixed: missing [hasattr(e, "stderr")]{.title-ref} guard in

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