Changelog for package yasmin_demos

6.1.0 (2026-07-26)

• docs: remove multiple states demo from documentation and demos Remove the "Multiple States Demo" from the C++ and Python tutorials, the README, and the documentation website. Additionally, delete the corresponding demo source files and update the CMakeLists.txt to remove the executable and installation targets.

• fix(cmake): remove installation of launch files from CMakeLists

• build(demos): modularize state implementations and update build configuration Refactor the [yasmin_demos]{.title-ref} package to move inline state definitions into dedicated header and source files, improving code reuse and maintainability across C++ and Python demos.

  - Move [FooState]{.title-ref}, [BarState]{.title-ref}, and [WorkerState]{.title-ref} from local demo files to shared [yasmin_demos]{.title-ref} modules.

  - Update [CMakeLists.txt]{.title-ref} to include new state source files in executable targets and install the [launch]{.title-ref} directory.

  - Standardize outcome strings (e.g., using [SUCCEED]{.title-ref} instead of [outcome2]{.title-ref}) in XML state machine definitions and Python states.

  - Improve Python demo robustness by adding [finally]{.title-ref} blocks to ensure [YasminViewerPub]{.title-ref} is properly shut down.

  - Replace [time.sleep]{.title-ref} with ROS 2 clock-aware sleep mechanisms in [publisher_demo.py]{.title-ref} to respect simulation time.

  • Clean up unused includes and redundant documentation in C++ files.

• refactor(demos): update state implementations and improve code hygiene Refactor demo states to use proper method overriding, clean up unnecessary includes, and improve header consistency.

  - Add [override]{.title-ref} keyword to [execute]{.title-ref} methods in [BarState]{.title-ref}, [FooState]{.title-ref}, [PoseWriterState]{.title-ref}, and [WorkerState]{.title-ref}.

  • Standardize header guards in [worker_state.hpp]{.title-ref}.

  - Remove unused [<rclcpp/rclcpp.hpp>]{.title-ref} includes from [pose_writer_state.cpp]{.title-ref} and [worker_state.cpp]{.title-ref}.

  • Update [PoseWriterState]{.title-ref} to return ["SUCCEED"]{.title-ref} instead of ["outcome1"]{.title-ref}.
  • Reorganize private member declarations in [FooState]{.title-ref} and [WorkerState]{.title-ref}.

  - Add documentation regarding ROS 2 Jazzy+ compatibility in [share_directory.hpp]{.title-ref}.

• Contributors: Miguel Ángel González Santamarta

6.0.0 (2026-07-07)

• fix: remove deprecated RCLCPP version checks for package share path retrieval
• relicense to Apache 2.0 (#122)
• fix: update RCLCPP version check to support compatibility with earlier versions
• feat: update package share path retrieval for compatibility with rclcpp versioning
• feat: add JoinState support with dialog and factory integration
• refactor: update max_count parameter for WorkerState in orthogonal_sync_demo
• refactor: update minimum CMake version to 3.10 across multiple CMakeLists.txt files
• refactor: remove shebang lines from multiple Python files
• 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

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