From 731392dbe4b9064e5f2ba3e82abd6e56497c660c Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Thu, 19 Dec 2024 09:43:26 +0100 Subject: [PATCH] Update release notes --- doc/release_notes.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/doc/release_notes.rst b/doc/release_notes.rst index a187e62437..7ce6b31658 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -156,6 +156,7 @@ hardware_interface * With (`#1683 `_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 `_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles. * With (`#1421 `_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file. * With (`#1763 `_) parsing for SDF published to ``robot_description`` topic is now also supported. +* With (`#1567 `_) all the Hardware components now have a fully functional asynchronous functionality, by simply adding ``is_async`` tag to the ros2_control tag in the URDF. This will allow the hardware components to run in a separate thread, and the controller manager will be able to run the controllers in parallel with the hardware components. joint_limits ************