Changelog for package yasmin_ros

6.1.0 (2026-07-26)

• fix(yasmin_ros): handle rclcpp version differences in TransformListener Update the TransformListener instantiation to account for API changes in rclcpp version 33.0.2 and above, ensuring compatibility across different ROS 2 distributions by checking the version macro.

• test(yasmin_ros): add complex scenario integration tests Add comprehensive integration tests for complex ROS 2 scenarios in both C++ and Python. These tests verify the interaction between state machines and various ROS 2 primitives including actions, services, and topics.

  • Implement [test_complex_scenarios.cpp]{.title-ref} using GTest.
  • Implement [test_complex_scenarios.py]{.title-ref} using unittest.

  - Update [CMakeLists.txt]{.title-ref} to include the new test targets for both C++ and Python test runners.

• fix(ros): enhance thread safety and state robustness Improve the reliability of ROS-related states by implementing thread-safe access patterns, refining lifecycle management, and expanding QoS caching granularity. Key changes:

  - monitor: introduced [_msg_lock]{.title-ref} to protect [msg_list]{.title-ref} during concurrent access and improved the message retrieval loop.

  - action: updated [cancel_state]{.title-ref} to asynchronously wait for goal cancellation to complete.

  - service: added [CANCEL]{.title-ref} outcome support and improved error handling in service response callbacks to prevent crashes on failed futures.

  • publisher: added explicit check for [is_canceled()]{.title-ref} before publishing.

  - tf_buffer: replaced manual [__del__]{.title-ref} calls with standard reference clearing to allow proper garbage collection.

  - ros_clients_cache: expanded QoS profile hashing to include [liveliness_lease_duration]{.title-ref} and [avoid_ros_namespace_conventions]{.title-ref}.

  - tests: updated test assertions to account for new log patterns and cleaned up unnecessary includes and redundant cache clearing.

  • build: removed obsolete [src]{.title-ref} include directory from CMake configuration.

• refactor(ros): modernize logger management and expand QoS hashing Update the ROS logging infrastructure to use smart pointers and thread-safe access patterns, and improve the granularity of QoS profile caching. Key changes:

  - ros_logs: Transition [logger_node]{.title-ref} from a raw pointer to a [std::shared_ptr]{.title-ref} and introduce [logger_node_mutex]{.title-ref} to ensure thread-safe access during logging and node lifecycle changes.

  - ros_clients_cache: Expand [hash_qos_profile]{.title-ref} to include [liveliness_lease_duration]{.title-ref} and [avoid_ros_namespace_conventions]{.title-ref} in the hash calculation for more accurate cache validation.

  - yasmin_node: Update lifecycle management to use [std::shared_ptr::reset()]{.title-ref} when clearing the logger node reference.

• fix(ros): improve thread safety and timeout logic in ROS states Refactor ROS-related states (Action, Monitor, Service) to enhance reliability and concurrency handling. Key changes:

  - action_state: Implement atomic flags for state tracking, fix condition variable usage with predicates, and replace the retry loop with a single total timeout calculation.

  - monitor_state: Replace [std::vector]{.title-ref} with [std::deque]{.title-ref} for more efficient message queuing and implement cancellation checks during timeouts.

  - service_state: Add [CANCEL]{.title-ref} outcome support, fix timeout logic to use a consolidated duration, and ensure cancellation is checked during the wait period.

  - get_parameters_state: Simplify parameter type retrieval by using the [rclcpp::Parameter]{.title-ref} object directly.

• Contributors: Miguel Ángel González Santamarta

6.0.0 (2026-07-07)

• relicense to Apache 2.0 (#122)
• fix: dereference node pointer for TransformBroadcaster

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