release: version 5.0.0-rc0001

.devcontainer/devcontainer.json

@@ -10,7 +10,7 @@
         "."
     ],
   "image": "modulo:development",
-  "postAttachCommand": "cd /home/ros2/ws && colcon build --packages-select modulo_component_interfaces modulo_interfaces",
+  "postAttachCommand": "cd /home/ros2/ws && colcon build --packages-select modulo_interfaces",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ros2/.devcontainer,type=bind,consistency=cached",
   "workspaceFolder": "/home/ros2/.devcontainer",
   "mounts": [

.github/workflows/build-release.yaml

@@ -10,24 +10,13 @@ jobs:
     name: Check if the version has been updated
     outputs:
       has_changed: ${{ steps.check.outputs.has_changed }}
-      version: ${{ steps.versions.outputs.new_version }}
+      version: ${{ steps.check.outputs.version }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-        with:
-          fetch-depth: 2
-      - id: versions
-        run: |
-          PREV_VERSION=$(git show HEAD^:VERSION)
-          NEW_VERSION=$(git show HEAD:VERSION)
-          echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT
-          echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT
-        shell: bash
-      - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0
+      - uses: aica-technology/.github/.github/actions/check-version-toml@v1.0.1
         id: check
         with:
-          previous_version: ${{ steps.versions.outputs.prev_version }}
-          new_version: ${{ steps.versions.outputs.new_version }}
+          package_path: .
 
   metadata:
     name: Get metadata
@@ -50,7 +39,11 @@ jobs:
           if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then
             CREATE_TAG=true
             GIT_TAG="v${{ needs.check-version.outputs.version }}"
-            IMAGE_TAGS=latest,"${GIT_TAG}",rolling
+            if [[ "${GIT_TAG}" == *"-"* ]]; then
+              IMAGE_TAGS="{GIT_TAG},rolling"
+            else
+              IMAGE_TAGS=latest,"${GIT_TAG}",rolling
+            fi
           else
             IMAGE_TAGS=rolling
           fi

.vscode/c_cpp_properties.json

@@ -3,7 +3,7 @@
         {
             "name": "AMD",
             "includePath": [
-                "/opt/ros/iron/include/**",
+                "/opt/ros/jazzy/include/**",
                 "/home/ros2/ros2_ws/install/**",
                 "/home/ros2/ws/install/**",
                 "/home/ros2/ws/src/modulo_utils/include",

CHANGELOG.md

@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [4.2.2](#422)
 - [4.2.1](#421)
 - [4.2.0](#420)
 - [4.1.0](#410)
@@ -14,6 +15,28 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## Upcoming changes
+
+- refactor: rename function in modulo translators (#77)
+- feat(components): add mutex around step callback (#67)
+- refactor: move utilities to modulo_utils package (#89)
+- refactor: move exceptions to modulo_utils (#90)
+- refactor: remove modulo_component_interfaces (#88)
+- feat(controllers): add add_interfaces function for derived controllers (#102)
+- refactor(components): remove period parameter and make rate double (#108)
+- feat(controllers): use exceptions from modulo utils and update to CL v8.1.0 (#106)
+- feat: define topic validation warning in utilities (#101)
+- fix(components): keep parameter values in sync with ros (#111)
+- feat: update to jazzy and CL v9.0.0 (#116)
+- refactor: move all exceptions into one place (#117)
+- feat(controllers): add flag for collision features to robot controller interface (#114)
+- feat: try catch lifecycle transitions in components and controllers (#120)
+- refactor: change predicate topic of controllers (#121)
+- feat(components): only publish predicates on value change (#123)
+- feat(controllers): only publish predicates on value change (#124)
+- fix(controllers): keep parameter values in sync with ros (#125)
+- feat: use v2.0.0-rc1-jazzy image (#126)
+
 ## 4.2.2
 
 ### June 14, 2024

CONTRIBUTING.md

@@ -10,7 +10,7 @@ As a general rule, a component interface methods do not throw an exception or ra
 meaningful option. More precisely, only non-void public/protected methods throw, i.e. all setters and `add_xxx` methods 
 do not throw but catch all exceptions and log an error.
 
-If an exception is thrown, it is either a `ComponentException` (in C++) or a `ComponentError` (in Python) or any
+If an exception is thrown, it is either a `CoreException` (in C++) or a `CoreError` (in Python) or any
 derived exception, such that all exceptions thrown by a component can be caught with those base exceptions (for example
 in the periodic `step` function).
 

aica-package.toml

@@ -1,21 +1,18 @@
-#syntax=ghcr.io/aica-technology/package-builder:v1
+#syntax=ghcr.io/aica-technology/package-builder:v1.0.1
 
 [metadata]
-version = "4.2.2"
+version = "5.0.0-rc0001"
 description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework"
 
 [metadata.collection]
 name = "modulo"
 
 [build]
 type = "ros"
-image = "v1.0.1-iron"
+image = "v2.0.0-rc1-jazzy"
 
 [build.dependencies]
-"@aica/foss/control-libraries" = "v7.4.1"
-
-[build.packages.modulo_component_interfaces]
-source = "./source/modulo_component_interfaces"
+"@aica/foss/control-libraries" = "v9.0.0"
 
 [build.packages.modulo_components]
 source = "./source/modulo_components"

build.sh

@@ -9,7 +9,7 @@ Options:
 
   --cl-version <VERSION>   Specify the version of the control libraries image to use.
 
-  --base-version <VERSION> Specify the version of base image to use.
+  --base-version <VERSION> Specify the version of the base image to use.
 
   --tag <TAG>              Specify the tag of the generated image.
                            (default: $IMAGE_TAG)

source/modulo_components/component_descriptions/modulo_component.json

@@ -12,16 +12,8 @@
       "display_name": "Rate",
       "description": "The frequency in Hertz for all periodic callbacks",
       "parameter_name": "rate",
-      "parameter_type": "int",
-      "default_value": "10"
-    },
-    {
-      "display_name": "Period",
-      "description": "The time interval in seconds for all periodic callbacks. This parameter is deprecated and will be removed in the next major release. The rate parameter takes precedence and overrides the component period.",
-      "parameter_name": "period",
       "parameter_type": "double",
-      "default_value": "0.1",
-      "internal": true
+      "default_value": "10.0"
     }
   ],
   "predicates": [

source/modulo_components/component_descriptions/modulo_lifecycle_component.json

@@ -12,16 +12,8 @@
       "display_name": "Rate",
       "description": "The frequency in Hertz for all periodic callbacks",
       "parameter_name": "rate",
-      "parameter_type": "int",
-      "default_value": "10"
-    },
-    {
-      "display_name": "Period",
-      "description": "The time interval in seconds for all periodic callbacks. This parameter is deprecated and will be removed in the next major release. The rate parameter takes precedence and overrides the component period.",
-      "parameter_name": "period",
       "parameter_type": "double",
-      "default_value": "0.1",
-      "internal": true
+      "default_value": "10.0"
     }
   ],
   "predicates": [

source/modulo_components/include/modulo_components/Component.hpp

@@ -86,7 +86,6 @@ class Component : public rclcpp::Node, public ComponentInterface {
   using ComponentInterface::inputs_;
   using ComponentInterface::outputs_;
   using ComponentInterface::periodic_outputs_;
-  using ComponentInterface::publish_predicate;
   using ComponentInterface::publish_predicates;
   using ComponentInterface::publish_outputs;
   using ComponentInterface::evaluate_periodic_callbacks;