v2.2.x

[stonier]

Upgraded for PyTrees 2.2.x and ROS2 Humble.

Bugfixes for PyTrees 2.2.x

• Use explicit arguments for behaviour names and composite memory, policy flags, [code] refactor for explicit composite arguments #191, [viz] bugfix tree watcher shutdown fix in humble and handle memory/nomemory #196, [behaviours] eliminate more AUTO_GENERATED name defaults #201

Be sure to check your code and make your arguments explicit! i.e.

# Correct
parallel = py_trees.composite.Parallel(
    name="Parallel",
    policy=py_trees.common.ParallelPolicy.SuccessOnAll()
)
# Will Fail
parallel = py_trees.composite.Parallel()

New in PyTrees 2.2.x

Refer to the Release Notes

Bugfixes for Humble

• fix float errors related to time and duration, [actions] refine pre-merge and push-ci-image #200
• eliminate qos policy deprecation warnings, [utilities] switch from deprecating QOS policies #187
• fix never ending accumulation of blackboard-watcher streams on the ros graph, [viz] bugfix blackboard watcher shutdown crash in humble #194
• fix blackboard-watcher and tree-watcher shutdown crashes, [viz] bugfix blackboard watcher shutdown crash in humble #194, [viz] bugfix tree watcher shutdown fix in humble and handle memory/nomemory #196

You may want to pay attention to #194, #196. A typical rclpy node will crash on CTRL-C if you've called rclpy.shutdown().

In humble, prefer:

except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
     pass
finally:
     mynode.shutdown()
     rclpy.try_shutdown()

New in Humble

• Pass node and node name arguments to tree setup, [trees] optional node, node name arguments to the tree setup #188

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This discussion was created from the release v2.2.x.