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ROS# Version 2.1.0

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@memrecakal memrecakal released this 20 Jan 17:58
2.1.0
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Changelog

All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[2.1.0] - 20.01.2025

Added

  • ROS2 Action Support:

    • In ActionClient.cs and ActionServer.cs, new methods were introduced for setting, sending, canceling, and responding to action goals, accommodating ROS2-specific parameters like feedback, fragment size, and compression, etc. Additionally, Communicators.cs now includes new classes—ActionConsumer and ActionProvider—which facilitate ROS2 action goal management and feedback/result handling (including non-blocking listener callbacks, custom delegates, and more).

      • Derived example classes FibonacciActionClient.cs and FibonacciActionServer.cs and their console examples are updated as well.

    • ActionServer.cs now features the ROS2 server state machine model (ROS2 Design - Actions)

    • Namespace and Message Type Integration:

      • Across key files such as ActionAutoGen.cs, FibonacciActionClient.cs, and FibonacciActionServer.cs, namespaces were updated to RosSharp.RosBridgeClient.MessageTypes.Action, aligning with ROS2. Furthermore, message types and identifiers were modified to reflect ROS2 constructs.

    • Abstract Action Message Types:

      • In ActionFeedback.cs, ActionResult.cs, and ActionGoal.cs, (TActionFeedback/Result/Goal) new properties were added to support ROS2's (action) feedback system and result tracking, enhancing metadata management.

    • Utility and Infrastructure Enhancements:

      • RosSocket.cs now feature new methods for ROS2 action advertising, unadvertising, managing action goals, cancel requests; feedback, result and status responses.
      • Communication.cs now feature ROS2 action message structures defined by the ROS Bridge Protocol.

    • MessageGeneration Support for ROS2 Actions:

      • In ActionAutoGen.cs, automatic action message generation capabilities have been implemented, including dynamic package inclusion, default and parameterized constructors based on ROS version.

    • ROS2 Action Support for Unity Fibonacci Examples

Changed/Removed

  • There were no changes/removals affecting ROS1 functionalities. All new ROS2 enhancements were contained within conditional compilation directives, thereby maintaining the continuity of ROS1 operations.
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