CHANGELOG
Changelog for package yasmin_factory
5.0.0 (2026-01-14)
Creating viewer pub variable for C++ factory node
refactor: update package share path retrieval for compatibility with rclcpp version checks
refactor: replace get_package_share_path with get_package_share_directory for compatibility
refactor: update includes to support conditional package share path retrieval
refactor: reorganize include directives and refine code structure across packages Reorganize include statements by grouping system and third-party headers at the top with angle brackets, relocate project headers appropriately, and eliminate redundant or unused includes. Additionally, streamline source files by repositioning self-include statements, adjust comment formatting, correct minor typos, and remove superfluous whitespace or blank lines for improved readability and consistency without altering functionality.
build(yasmin_factory): incorporate ament_index_cpp dependency and eliminate redundant include Introduce ament_index_cpp as a required package in CMakeLists.txt, link it to the target, and export it as a dependency. Concurrently remove the unused include from yasmin_factory_node.cpp to clean up the codebase.
feat(discovery): add env, package.xml and XML-file ignore rules with cache invalidation (#97) Co-authored-by: Maik Knof <knofm@hs-weingarten.de>
feat(yasmin_pcl): add PCL compatibility header for versions prior to 1.12 Add pcl_compat.hpp to provide type aliases for pcl::Indices and related types in PCL versions older than 1.12. Update includes in cloud_types.hpp and filter_state_utils.hpp to use the new header. Refactor CMakeLists.txt to use direct linking for dependencies. Add new test files and fix use-after-free in factory cleanup test.
Add ament_index_cpp dependency and update state creation in yasmin_factory
Adding state metadata (#95) * feat(state): add metadata support with default value injection for blackboard keys Add StateMetadata and BlackboardKeyInfo structures to enable states to declare input and output keys with optional default values. When a state is executed, default values are automatically injected into the blackboard for any missing input keys that have defaults defined. This allows states to declare their dependencies and provide sensible defaults without requiring the blackboard to be pre-populated. Includes Python bindings and comprehensive unit tests. * feat: add metadata and defaults support to editor and factory Add description and default value support to the state machine editor GUI and factory. This includes: - New DefaultsDialog for editing default blackboard values in the editor - Updated dialogs to support description and defaults for states and state machines - XML parsing and serialization for description attribute and Default elements - Plugin info now exposes description and input/output keys from states - Python bindings simplified to support arbitrary types for default values - External metadata storage preserves ABI compatibility with existing plugins * feat: add default value injection for Python blackboard keys Enables storing Python objects as default values for blackboard keys by using shared_ptr to maintain object lifetime, with a lambda that properly injects the default value using GIL acquisition when the key is accessed. * State metadata demos (#77) * add state metadata across all python demo files * add description-aware constructors to BlackboardKeyInfo Throws an segfault currently. * add state metadata to all cpp demos * guard unsupported metadata default conversion in pybind * add cli tool for inspecting states * use keyword description in python demos to avoid pybind overload ambiguity * remove defaults for output_keys in python demos output_keys shouldn’t have default values * only print keys if they exist * disambiguate string default metadata in state tests * make cpp_formatter happy * make cpp_formatter happy 2 * make python_formatter happy * fix(pybind): make input key description keyword-only and remove default values for output keys This affects only python atm * remove add_output_key overload with default_value * remove py::kw_only * fix test * remove default value for output keys in tests * remove default values for output_keys in demos * fix demos * fix rosdep issue * fix metadata bindings and restore BlackboardKeyInfo description constructors * changing argument order of add_input_key to (key_name, description, default_value) making description mandatory if you want to supply a default_value * fix python formatting * remove copy paste error * typo * add description * update state.pyi * fix(pybind): fix string defaults * fix factory * refactor(metadata): unify BlackboardKeyInfo constructor API and fix default handling - enforce constructor order: (key_name, description, default_value) - remove ambiguous 2-argument default constructors - use std::decay_t for safe default value storage - fix const char* handling to store as std::string - update pybind layer to use explicit description argument - update factory to pass description before default value - simplify string handling by removing manual py::str special case * fix argument order * add default for cpp demo * add ros2 yasmin factory verb with recursive xml completion * filter factory xml completion by StateMachine root tag * add test verb to test a single state in an isolated state machine * move shared completers to package-level helper * fix formatter * fix formatter * add license * rename factory verb to run * split inspect into list and info ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * fix(cli): standardize CLI argument naming to kebab-case Standardize the –disable_viewer_pub argument to –disable-viewer-pub in run and test verbs to follow kebab-case convention for CLI arguments. Also add progress hiding support to plugin loading and use os._exit() for proper exit code propagation. * refactor(plugins): replace find_plugin with build_plugin_info for faster lookup Introduce build_plugin_info function to directly create PluginInfo objects from plugin names, avoiding XML file parsing overhead. Updated CLI components in completer.py and test.py to use the new function for improved performance. * Cli edit/viewer verb (#78) * add startup CLI arg for opening XML file * add edit verb to open XML files in yasmin_editor * load startup xml only after canvas viewport is ready * make edit verb accept optional xml file and validate xml file * add viewer verb that starts yasmin_viewer_node ros2 yasmin viewer -h usage: ros2 yasmin viewer [-h] [–host HOST] [–port PORT] [–msg-per-second MSG_PER_SECOND] Start the YASMIN viewer web server options: -h, –help show this help message and exit –host HOST Viewer host address –port PORT Viewer port –msg-per-second MSG_PER_SECOND Viewer update rate ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * store and restore node positions from xml (#81) * store and restore node positions from xml * python formatting * python formatting * python formatting * fix nested outcome xml restore by loading container outcomes after child layout * add positions to demo state machines ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Faster plugin discovery (#84) * add cached yasmin plugins manager package * formatter * use new plugin manager * add relative path for xml plugins befor we only stored package and file name but not the relative path inside the package * cleanup: remove leftover preload metadata parameter * improve doc strings * refactor: use ament plugin resources for yasmin cpp discovery * improve doc string * fix: load plugin metadata fields independently * add verbose plugin dump option to discovery node * formatter ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Cleaner default value dialog in editor (#83) * move key descriptions into the description box to have a cleaner default dialog * python formatting * only show supported types in the defaults dialog * don’t assume default type is string * merge outcomes and description box * formatter * add metadata support for outcome descriptions * switch -> to . * cpp formatter * add some desc to demos * print outcome description in cli info * add outcome_descriptions to state_properties_dialog * remove empty spaces * python formatter * add editable final outcome descriptions with xml persistence * formatter * load outcome description from xml * formatting * remove trailing white space * add outcome description to demo state machines * fix: load nested xml plugin states from StateMachine tags * formatter * feat: add blackboard key management ui and xml key support * copy paste issue * formatting * formatting * replace old syntax with new one in demo state machine * update to new key syntax * formatting * support explicit no-default type and empty string defaults for blackboard keys * formatter * apply nested container blackboard remappings to child states * compose parent and child blackboard remappings in nested state machines * formatting * show blackboard key default value and type in sidebar * Allow nested state machines to parse blackboard keys * remove old arg * remove old arg * remove old arg * auto derive the blackboard keys from all states * formatter * formatter * formatter * use correct keys * remove old arg * remove unused blackboard keys after graph sync * rename button to highlight * formatter * add keys to demos * restore blackboard remappings after state machine execution * formatter * show blackboard key default value * Add XML input overrides and completion for yasmin run * formatter * make types of key lower case * convert uppercase types to lowercase * convert type to lower * remove composing of remapping since its already handled by the factory * remove test * formatter ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * add validate CLI verb (#88) * add validate CLI verb using factory create_sm_from_file and validate(strict_mode) * fix: isolate batch XML validation in subprocesses to avoid segfaults * dont print path twice * dont print file twice ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * fix(validate): destroy state machine explicitly before returning (#89) Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Editor refactoring (#86) * move key descriptions into the description box to have a cleaner default dialog * python formatting * only show supported types in the defaults dialog * don’t assume default type is string * merge outcomes and description box * formatter * add metadata support for outcome descriptions * switch -> to . * cpp formatter * add some desc to demos * print outcome description in cli info * add outcome_descriptions to state_properties_dialog * remove empty spaces * python formatter * add editable final outcome descriptions with xml persistence * formatter * load outcome description from xml * formatting * remove trailing white space * add outcome description to demo state machines * fix: load nested xml plugin states from StateMachine tags * formatter * feat: add blackboard key management ui and xml key support * copy paste issue * formatting * formatting * replace old syntax with new one in demo state machine * update to new key syntax * formatting * support explicit no-default type and empty string defaults for blackboard keys * formatter * apply nested container blackboard remappings to child states * compose parent and child blackboard remappings in nested state machines * formatting * show blackboard key default value and type in sidebar * Allow nested state machines to parse blackboard keys * remove old arg * remove old arg * remove old arg * auto derive the blackboard keys from all states * formatter * formatter * formatter * use correct keys * remove old arg * remove unused blackboard keys after graph sync * rename button to highlight * formatter * add keys to demos * restore blackboard remappings after state machine execution * formatter * show blackboard key default value * Add XML input overrides and completion for yasmin run * formatter * make types of key lower case * convert uppercase types to lowercase * convert type to lower * remove composing of remapping since its already handled by the factory * remove test * formatter * add editor model layer, XML IO, and CLI print command * add recursive validation for state machines and concurrences * add license * require outcomes on state machines and concurrences * sync GUI backend through new model layer * remove xml_manager and clean duplicated model/io wiring * reduce gui/model duplication and move graph mutations into model * add container navigation view and render one level at a time * deduplicate nested transitions and scope blackboard view to current container * estore nested container transitions and persist nested keys * remove zip * restore loaded outcomes and improve transition editing/navigation * update container transition owners on rename and tighten fit margin * add readonly external xml viewer and render xml states as boxes * remove shadowed duplicate methods * formatting * Fix leaked nested remap keys in parent blackboard view * Fix stale blackboard keys after remap changes * add test sm for quicker debugging * added some transitions * fix self-loop anchors and hide fully-assigned ports * group duplicate transitions and make labels selectable * add label double-click transition rewiring * fix transition z-order so arrows stay behind boxes * remove transparency from container node brushes * Add color palette support and a dark mode * add first draft of a runtime mode * add improvements * improve runtime * remove blackboard remappings during pause * Improve runtime status/log styling and document runtime backend * Fix runtime log colors for light mode * add runtime test fsm * add description * fix runtime play-once pause handling * move test into test dir * refactor runtime logging bridge * remove some docs * fix and improve logger * remove print * add logs for start and end cb and rename transition color to system color * add log tree for nested state machines * fix transitions * copy paste issue * removed unused dialog * Use Add State dialog for sidebar state insertion with preselected plugin * Add cursor-based pending placement for new nodes * Refactor runtime logging into dedicated logging module * Refactor YasminEditor into focused mixin modules * collect mixin in another dir * group nodes in a dir * fix imports * remove stubs * split create_ui into focused helper methods * refactor: extract UI builder helpers into focused modules * refactor: split colors.py into theme modules and keep compatibility wrapper * refactor: extract shared container dialog base for state machine and concurrence dialogs * remove “optional” in dialogs because it took to much space * refactor: extract connection line geometry and label helpers into dedicated modules * add final outcome renaming with transition/reference updates * add runtime auto-follow for active nested states * highlight final root transition * add paused-transition interactive runtime shell * rename env var from YASMIN_EDITOR_COLOR to YASMIN_EDITOR_THEME * add concurrence to runtime test * expose current_state and last_state in interactive shell * factory: fix concurrence parsing in python * change runtime test order * stop expanding concurrence containers in runtime view * scope toolbar styling to editor toolbar to fix file dialog icons * refactor runtime controls and lock runtime mode during active execution * make interactive shell available after completion * fix: use editor XML state name in breadcrumb navigation * black formatter * Keep persistent runtime blackboard and enable shell only when not running * keep terminal active path instead of recomputing it on finish * remove dead functions * forbid state/final-outcome name collisions * add text blocks so devs can write documentation inside state machines ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Nested remappings (#90) * compose nested blackboard remappings across state machines * improve test ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * add configure and local state parameters (#91) * add state configure hook and local parameter blackboard * add parameter to plugin_info * add recursive configure and child parameter mappings * add parameters to xml plugin info * formatting * add editor support for parameter declarations and child parameter overwrites * factory: parse Param and ParamRemap from XML * formatter * fix: replace Python 3.9+ type annotation with typing.Dict for Foxy/Galactic * add state parameters and parameter remapping examples * fix: preserve Python state parameter metadata in C++ factory wrapper * add generic ROS serialization/deserialization states and fsm’s * formatter * formatter * formatter * skip python states that require constructor arguments * test: add source dir to PYTHONPATH for yasmin_factory C++ gtests * remove ament_target_dependencies and keep plain target linking * ui: normalize displayed C++ metadata types for plugin info * cli: add parameter overrides to run/test and print params with param remaps * test: add ROS serialization state coverage and fix C++ interface type validation * preserve bytes and bytearray in Python blackboard wrapper * formatter ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Update docs (#94) * docs: update main_concepts document blackboard key metadata and default input values add correct parameters section for state-local parameter storage * docs: add state metadata section to main concepts * docs: update xml state types chapter with list and dict blackboard support * docs: document configure lifecycle in state concept section * remove link * copy paste issue * docs: add YASMIN CLI documentation page ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> * Blackboard pywrapper support for homogeneous lists and dictionaries (#93) * add state configure hook and local parameter blackboard * add parameter to plugin_info * add recursive configure and child parameter mappings * add parameters to xml plugin info * formatting * add editor support for parameter declarations and child parameter overwrites * factory: parse Param and ParamRemap from XML * formatter * fix: replace Python 3.9+ type annotation with typing.Dict for Foxy/Galactic * add state parameters and parameter remapping examples * fix: preserve Python state parameter metadata in C++ factory wrapper * add generic ROS serialization/deserialization states and fsm’s * formatter * formatter * formatter * skip python states that require constructor arguments * test: add source dir to PYTHONPATH for yasmin_factory C++ gtests * remove ament_target_dependencies and keep plain target linking * ui: normalize displayed C++ metadata types for plugin info * cli: add parameter overrides to run/test and print params with param remaps * test: add ROS serialization state coverage and fix C++ interface type validation * preserve bytes and bytearray in Python blackboard wrapper * formatter * blackboard: add typed list/dict pywrapper conversions with documented dispatch * test: add blackboard coverage for typed lists, tuples and dicts * blackboard: add typed list/dict metadata conversion * factory: parse list/dict defaults from XML JSON values * cli: support list/dict input and parameter overrides * editor: add list/dict default type options and JSON hints * plugins: normalize vector/map metadata to list/dict types * formatteer ——— Co-authored-by: Maik Knof <knofm@hs-weingarten.de> ——— Co-authored-by: Maik <67489355+Maik13579@users.noreply.github.com> Co-authored-by: Maik Knof <knofm@hs-weingarten.de>
Add missing include (#92) When building this in rolling, compilation fails with: src/yasmin_factory.cpp: In member function ‘yasmin::StateMachine::SharedPtr yasmin_factory::YasminFactory::create_sm(tinyxml2::XMLElement*)’: src/yasmin_factory.cpp:254:41: error: ‘get_package_share_directory’ is not a member of ‘ament_index_cpp’ 254 | package_path = ament_index_cpp::get_package_share_directory(package); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~ Add the missing include file to fix the error.
Contributors: Michal Sojka, Miguel Ángel González Santamarta
4.2.3 (2026-01-06)
Setting C++ standard to 17
Applying new make_share
Contributors: Miguel Ángel González Santamarta
4.2.2 (2025-12-28)
Adding enable_viewer_pub to factory nodes
minor fix in C++ header guards
Contributors: Miguel Ángel González Santamarta
4.2.1 (2025-12-19)
minor fix in C++ header guards
Contributors: Miguel Ángel González Santamarta
4.2.0 (2025-12-17)
Add new type aliases and macros to types.hpp and sync documentation examples with demo code - Add YASMIN_UNIQUE_PTR_ALIAS and YASMIN_WEAK_PTR_ALIAS macros - Add alias for Outcomes, Transitions, Remappings and more - Update README.md and tutorial docs to use Blackboard::SharedPtr instead of std::shared_ptr<Blackboard> to match actual demo implementations
using unordered_map for values and registry of blackboard
fixing comments and log order in demos
removing no-op deleted form pybind_bridge in factory
using createUnmanagedInstance in pybind_bridge to allow Python mange the lifetime of objects
improving Python + cleaning Python viewer pub on shutdown
optimizing C++ code (adding const and noexcept)
removing cleanup from Python viewer publisher
removing repeated checks in blackboard pywrapper
Contributors: Miguel Ángel González Santamarta
4.1.0 (2025-12-07)
adding python-dev in deps and removing unused test deps for python
setting signing handle as false by default
adding SIGINT handler for YASMIN state machines in core package
Contributors: Miguel Ángel González Santamarta
4.0.2 (2025-12-01)
fixing macros using pybind and setting EventsExecutor for Kilted and Rolling
removing directory in yasmin
Contributors: Miguel Ángel González Santamarta
4.0.1 (2025-11-25)
adding ament_cmake_python to factory package.xml
fixing dependencies in package.xml of demos and factory
Contributors: Miguel Ángel González Santamarta
4.0.0 (2025-11-24)
adding boos dependency to factory for Foxy
adding macros in factory for foxy and galactir
removing cleanup from factory
adding cleanup to python demos
removing unused functions and attributes from pybind11_bridge
moving #include <pluginlib/class_list_macros.hpp> to the bottom of files
removing “state_machines” directory from factory
replacing rcpputils with filesystem
removing ament_python from dependencies
removing comments from main functions
Merge pull request #70 from uleroboticsgroup/pybinding [New Great Version] Pybinding + Plugins + Editor
adding file_name + package to include XML state machines
fixing order to load included XML state machine in factory
replacing xml with lxml in Python
initial_state -> start_state
adding initial state to factories
removing parameters from factory
fixing Python imports
including other XML state machines in factory
setting input/output remappings
cancling SM created by factoy in C++
new tests for state machine name and remappings in factory
replacing from/to with old/new in factory
fixing wrong remappings in python factory
adding name to SM class for root SM
adding remappings to factory
fixing const std::string & in yasmin_ros
adding yasmin_viewer to factory pacakge
treating python list, dict, tuples and set as py::object in set function of Python blackboard
C++ yasmin_factory_node
fixing BlackboardPyWrapper to improve the type check in Python
creating tests for yasmin_factory
PythonStateHolder for C++ factory
refactor python yasmin_factory
C++ factory
fixing yasmin factory functions names
initial files fo yasmin_factory
Contributors: Miguel Ángel González Santamarta