Changelog for package yasmin

6.0.0 (2026-07-07)

• relicense to Apache 2.0 (#122)
• feat: add validation methods for Concurrence and OrthogonalState with strict mode support
• feat: add JoinState support with dialog and factory integration
• refactor: add get_inner_state method to State and its overrides for JoinState detection
• refactor: update minimum CMake version to 3.10 across multiple CMakeLists.txt files
• refactor: removing duplicate code
• Enhance documentation and improve code clarity across multiple modules
  • Added detailed comments and descriptions for constructors, methods, and parameters in various classes, including [Concurrence]{.title-ref}, [StateMachine]{.title-ref}, and filter states in [yasmin_pcl]{.title-ref}.
  • Improved logging initialization comments in [logs.cpp]{.title-ref} for better understanding of log level settings.
  • Updated [blackboard_pybind11.cpp]{.title-ref} to clarify the registration of [BlackboardPyWrapper]{.title-ref}.
  • Enhanced the [yasmin_demos]{.title-ref} states with additional private member documentation for clarity on their purpose.
  • Improved the [yasmin_factory]{.title-ref} class documentation, particularly around blackboard key and parameter mappings.
  • Added utility functions in [test_utils.hpp]{.title-ref} for creating point clouds and temporary file paths with clear descriptions.
  • Enhanced the [ros_clients_cache]{.title-ref} and [supported_interface_serialization]{.title-ref} classes with detailed comments on cache management and serialization callbacks.
  • Improved the [YasminNode]{.title-ref} and [YasminViewerNode]{.title-ref} classes with comments on copy prevention and connection handling.
  • General code cleanup and formatting improvements for better readability and maintainability.
• refactor: improve asynchronous callback handling in CallbackSignal
• refactor: use 'this' pointer for member variable access in multiple state classes
• Refactor and enhance yasmin packages
  • Removed unnecessary destructors from PclToRosPointCloud2State and RosToPclPointCloud2State classes.
  • Added cancellation checks in SavePcdState and SavePlyState execute methods.
  • Improved ActionState to notify when action is done and handle cancellation more effectively.
  • Updated basic_outcomes to use inline constexpr for string constants.
  • Enhanced MonitorState and ServiceState to include cancellation checks and improved locking mechanisms.
  • Refactored ROSClientsCache to use per-map locks for thread safety.
  • Updated get_parameters_state to handle int64_t instead of int for parameter declaration.
  • Improved YasminViewerNode to manage active HTTP connections and handle server shutdown more gracefully.
  • Refactored yasmin_viewer_pub to use unordered_map for better performance and added checks for rclpy state before publishing.
• refactor: streamline Python bindings and logging functionality
• style: format code for improved readability in multiple files
• refactor: refactor and optimize yasmin code
  • Removed unnecessary code and improved the formatting of plugin headers in discovery_node.py.
  • Simplified metadata loading in plugin_info.py by introducing a safe_get method to handle exceptions.
  • Enhanced plugin manager to streamline package retrieval and signature validation.
  • Cleaned up ROS interface serialization by removing unused includes.
  • Updated action client state to utilize a retry mechanism for server connections.
  • Improved service state handling with a retry mechanism for service calls.
  • Consolidated node resolution logic into a utility function for better code reuse.
  • Refactored viewer node to enhance readability and maintainability.
  • Updated tests to reflect changes in expected warning log counts.
  • Added new utility functions for retry logic and node resolution in ros_state_utils.py.
• Feature/orthogonal regions (#121)
  • feat: Add JoinState and OrthogonalState for concurrent state management
  • Introduced JoinState for synchronization between states.
  • Added OrthogonalState to allow parallel execution of multiple regions.
  • Implemented WorkerState for counting iterations with configurable parameters.
  • Created orthogonal_demo and orthogonal_sync_demo to demonstrate new features.
  • Updated CMakeLists.txt to include new demos and worker_state library.
  • Added XML state machine definitions for orthogonal and synchronized execution.

File truncated at 100 lines see the full file