Changelog for package yasmin_ros

6.1.2 (2026-09-17)

• refactor(ros): introduce GoalResponseArg alias for action callbacks Introduce a [GoalResponseArg]{.title-ref} type alias within [ActionState]{.title-ref} to abstract the argument type used in goal response callbacks. This simplifies the callback signatures and improves code readability across different ROS 2 versions by handling the variation between direct shared pointers and shared futures.
• fix(ros): use node name instead of fully qualified name for cache keys Update [ROSClientsCache]{.title-ref} to use [node.get_name()]{.title-ref} instead of [node.get_fully_qualified_name()]{.title-ref} when generating cache keys for action clients, service clients, and publishers. This ensures consistent client retrieval regardless of the node's namespace context.
• refactor(ros): enhance state robustness and resource management
  • Improve lifecycle safety in [ActionState]{.title-ref} and [ServiceState]{.title-ref} by implementing callback guards to prevent access to destroyed objects.
  • Enhance [ROSClientsCache]{.title-ref} by including [callback_group_name]{.title-ref} in cache keys and using fully qualified node names.
  • Optimize [TfBufferState]{.title-ref} to reuse [tf2]{.title-ref} buffer and listener instances unless configuration changes.
  • Add better error handling and input validation in [GetParametersState]{.title-ref}, [RosDeserializeCppState]{.title-ref}, and [RosSerializeCppState]{.title-ref}.
  • Refactor [YasminNode]{.title-ref} singleton initialization to use thread-safe locking and explicit executor management.
  • Improve [MonitorState]{.title-ref} by implementing safer message queue processing and cancellation logic.
  • Update Python test suites to ensure proper cleanup of executors and nodes during teardown.
• Contributors: Miguel Ángel González Santamarta

6.1.1 (2026-08-08)

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

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