CHANGELOG
Changelog for package flexbe_core
3.0.0 (2024-05-01)
update with state map and changes to concurrent handling
add options to remove service callers and action clients
proxy publisher dictionary usage
use modern style names with deprecated flag
add sync lock to proxies
added code to remove subscriptions and publishers with sync lock
use deque for msg buffer add lock to prevent modifications during callback (e.g. when thread starts or finishes)
add hash for StateMap outcome index to standardize handling
reinitialize existing state machine instead of rebuilding on sync (1000x faster)
update with standardized topic handling
update ui version handling
OperatableStateMachine is now a pseudo manually transitionable state (TODO -separate logic to shadow state design)
add is_controlled check to avoid attempts at duplicate subscriptions and cleanup
onboard side coded to send new BehaviorSync and ‘mirror/outcome’
adding state_id handling; pre-building ContainerStructure to set IDs
flake8, pep257 and codestyle checks
2.3.4 (2024-05-01)
proxy action client: remove result_status and test proxy status
Fixed bug when trying to get result state/GoalStatus.
Add throttle option for logging (PR #14)
2.3.3 (2023-08-09)
destroy sub/pub/client in executor thread
update to protect against executor calls after unsubscribe/shutdown
use SingleThreadedExecutor without callback groups
use basic pub/sub for onboard; cleanup
2.3.2 (2023-08-01)
2.3.1 (2023-07-31)
merge from ros2-devel to reduce spam and missing package handling
2.3.0 (2023-07-20)
add wait_duration to proxy action client send goal and other tweaks * This change could reducing waiting. If you need longer wait time, specify wait_duration
make action client is_available check current status not wait
flake8 cleanup; make test consistent; protect against build farm timing issue
cleanup; modify handling of existing subscriptions
Updates to dependencies for ROS build farm
Modify sync messaging to avoid issue if not active state when behavior shuts down
clean up some spam to FlexBE app console
include package name in behavior request (requires flexbe_app 3.1+) to allow duplicate behavior names in packages
2.2.0 (2023-06-29)
Modify to used behavior_id (checksum) and behavior_key consistently
Modify shutdown handling for clean stop
Modify wait() handling to avoid creating a rate object
modify sync handling and execute loop timing
add proxy tf listener
Require ‘inst_id’ for ProxySubscriber setup (change from ‘id’)
flake8, pep257, pylint cleanup; licenses and copyright
Pull request #154
Pull request #163
Pull request #153 Modification
Merge pull request #11 from grejj/ros2-devel Added destroy rate calls to clear up rate resources (undone by item 2 above)
2.1.1 (2022-09-12)
ProxyServiceCaller changes * fix issue #1 * wait_duration handling * connect without service being available * misc cleanup
2.1.0 (2022-08-02)
ROS 2 Humble release
Includes changes sync check handling
Label proxy subscribers by instance id and handle instance type changes
Update proxy action client handling
Tested under Ubuntu 22.04 and ROS Humble
2.0.0 (2022-02-22)
Initial ROS 2 “foxy” release based on ROS 1 commit a343c657
Includes changes to concurrent state and sleep handling
1.3.1 (2020-12-11)
[flexbe_core] Replace set conversion for python3 compatibility (see #136)
Contributors: Philipp Schillinger
1.3.0 (2020-11-19)
[flexbe_core] Further fixes to userdata
[flexbe_core] [flexbe_widget] Correctly handle non-existing behaviors in action goals (fix #133)
[flexbe_core] Several fixes to userdata (see #129)
[flexbe_core] [flexbe_testing] [flexbe_widget] Use yaml backwards compatible
Merge remote-tracking branch ‘origin/feature/core_rework’ into develop # Conflicts: # flexbe_core/src/flexbe_core/core/operatable_state_machine.py # flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
Merge branch ‘feature/core_rework’ of https://github.com/team-vigir/flexbe_behavior_engine into feature/core_rework
Add support for python3
[flexbe_core] Fix typo in userdata handling of concurrency container
[flexbe_core] Use more explicit userdata update operations
[flexbe_core] Add userdata tests and improvements
[flexbe_core] Add checks and specific exception types
[flexbe_core] Add test cases for state capabilities
Major clean-up of most core components
Remove smach dependency
Contributors: Philipp Schillinger
1.2.5 (2020-06-14)
[flexbe_core] Consider a running mirror as being controlled (see #123)
Merge pull request #113 from team-vigir/feature/state_logger_rework State Logger Rework
Merge branch ‘develop’ into feature/state_logger_rework
[flexbe_core] Allow to specify a subset of logged userdata keys
[flexbe_core] Extend configuration options
[flexbe_core] Rework state logger implementation
Contributors: Philipp Schillinger
1.2.4 (2020-03-25)
[flexbe_core] Add tests for proxies
[flexbe_core] Several minor improvements of proxies (see #114)
[flexbe_msgs] [flexbe_core] Add debug level to logger (see #101)
Merge pull request #110 from team-vigir/fix/catkin_install Let behavior library find sourcecode in devel or install spaces
Let behavior library find sourcecode in devel or install spaces (fix #104)
[flexbe_core] Fix reset of requested outcome when re-visiting the same state and immediately requesting an outcome
[flexbe_core] Fix duplicate sleep in case of state machine inside concurrency
[flexbe_core] Robustify priority container path handling
Do not trigger on_resume and on_exit when stopped during pause (see #103)
Remove mistakenly added text
Merge branch ‘fmessmer-feature/python3_compatibility’ into develop
Remove explicit list construction where not required
Remove redundant type check
python3 compatibility via 2to3
Contributors: Philipp Schillinger, fmessmer
1.2.3 (2020-01-10)
Merge pull request #97 from team-vigir/feature/test_behaviors flexbe_testing support for behaviors
[flexbe_core] Clear previous outcome requests on state loopback (see #93)
[flexbe_core] [flexbe_onboard] Move behavior parametrization to core
Merge remote-tracking branch ‘origin/develop’ into feature/test_behaviors # Conflicts: # flexbe_testing/bin/testing_node # flexbe_testing/src/flexbe_testing/state_tester.py
[flexbe_core] [flexbe_widget] Add simple breakpoint feature (see #93)
Merge pull request #88 from team-vigir/fix/concurrency_sleep Fix rate sleep of concurrency container
Fix rate sleep of concurrency container (see #87)
Contributors: Philipp Schillinger
1.2.2 (2019-09-16)
[flexbe_core] Add method to set a custom execute rate for states
[flexbe_core] Remove unnecessary sleep call in logger (see #79)
[flexbe_core] Fix custom rate issues with nested and concurrent states
Contributors: Philipp Schillinger
1.2.1 (2019-06-02)
Merge pull request #72 from mgruhler/fix/filemodes fix filemodes: those files should not be executable
fix filemodes: those files should not be executable
Merge remote-tracking branch ‘origin/feature/sub_parameters’ into develop
Bump required flexbe_app version
[flexbe_core] Accept explicit definition of parameters for included behaviors
Merge remote-tracking branch ‘origin/master’ into develop
Contributors: Matthias Gruhler, Philipp Schillinger
1.1.2 (2019-04-09)
Merge remote-tracking branch ‘origin/develop’
Merge pull request #66 from ksm0709/add_remove_result add remove_result function to proxy action client
add remove_result function to proxy action client
Merge remote-tracking branch ‘origin/master’ into develop
Contributors: Philipp Schillinger, taehokang
1.1.1 (2018-12-18)
Merge remote-tracking branch ‘origin/develop’
Revise run dependencies
Merge remote-tracking branch ‘origin/master’ into develop
Contributors: Philipp Schillinger
1.1.0 (2018-12-01)
Merge branch ‘develop’
Merge branch ‘feature/flexbe_app’ into develop
Update maintainer information
State logger is optional and off by default
Merge remote-tracking branch ‘origin/action_client_remove_feedback’ into feature/flexbe_app
Merge pull request #62 from team-vigir/action_client_remove_feedback Added remove_feedback function to ensure new feedback is received
Added remove_feedback function to ensure new feedback is received
Merge pull request #58 from alireza-hosseini/feat-action-client-wait-param feat: Add wait_duration parameter to ProxyActionClient
feat: Add wait_duration parameter to ProxyActionClient - So that the wait duration can be specified in the states definition
[flexbe_core] Allow to use behavior default userdata (see #38)
[flexbe_core] Update behavior lib if behavior is not found (see Flexbe/flexbe_app#4)
Merge branch ‘develop’ into feature/flexbe_app Conflicts: flexbe_mirror/src/flexbe_mirror/flexbe_mirror.py flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py flexbe_widget/bin/flexbe_app flexbe_widget/src/flexbe_widget/behavior_action_server.py
Merge remote-tracking branch ‘origin/master’ into develop Conflicts: flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
Merge remote-tracking branch ‘origin/develop’ Conflicts: flexbe_onboard/src/flexbe_onboard/flexbe_onboard.py
Merge pull request #31 from fmauch/reset_entering reset entering of currently active state when exiting a state machine
reset entering member of currently active state when exiting a state machine
Find behaviors by export tag and execute via checksum
Merge branch ‘automatic_reload’ into develop
allow locking and unlocking of current state without knowing the current path
remove manual reloading code, as this is done already by the reload importer
Merge pull request #26 from jgdo/automatic_reload Automatic reload
automatic reload of imported behaviors upon sm creation
Reload class definition before instantiating a contained behavior inside a behavior
Merge remote-tracking branch ‘origin/master’ into develop
[flexbe_core] Fixed event triggering in concurrency container (resolve #18)
Merge remote-tracking branch ‘origin/master’
Merge remote-tracking branch ‘origin/develop’
[flexbe_core] Only call on_exit on cc leave for states which are still looping (fix #17)
Merge branch ‘develop’
[flexbe_core] Fixed sm on_exit to propagate own ud instead of parent ud
Merge branch ‘master’ into cnurobotics
Merge remote-tracking branch ‘origin/develop’
[flexbe_core] Properly reset current state when leaving state machine (fix #7)
Merge remote-tracking branch ‘origin/develop’
[flexbe_core] Fixed reset of current state on leave in cc and related concurrency userdata problems
[flexbe_core] Use aggregated diagnostics topic instead of raw
[flexbe_core] Correctly execute concurrency inside priority container
[flexbe_core] Can always preempt behavior even if not supervised
Merge remote-tracking branch ‘origin/develop’
Provide option to set userdata input on behavior action calls
[flexbe_core] Fixed occasional problems to resume a paused state
[flexbe_core] [flexbe_mirror] Improved robustness of fast repeated synchronization
Merge branch ‘feature/late_connect’ into develop
[flexbe_core] Added command to attach to running behavior execution
Merge branch ‘feature/pause_repeat’ into develop
[flexbe_core] Handle pause and repeat commands
[flexbe_core] Propagate skipped notification on pause in order to react on preemption commands even if paused
[flexbe_core] Added function to check if a goal is already active on a proxy client
[flexbe_core] Fix for backup sync
[flexbe_core] Fixed sync issues after leaving CC by explicitly syncing automatically
[flexbe_core] Fixed calling on_exit on all states in CC
Merge remote-tracking branch ‘origin/feature/multirobot’
Merge remote-tracking branch ‘origin/master’ into feature/multirobot Conflicts: flexbe_core/src/flexbe_core/core/monitoring_state.py flexbe_core/src/flexbe_core/core/operatable_state.py
[flexbe_core] Added availability checks to proxies
[flexbe_core] Added onboard debug topic for current state
[flexbe_core] Convert all logged messages to string before sending ros message in logger
[flexbe_core] Added priority container
[flexbe_core] Added some more documentation
[flexbe_core] Fixed initialization of input userdata in inner statemachines
[flexbe_core] Correctly preempt auxilliary control flows in concurrency container
[flexbe_core] Fixed a bug with concurrent execution: State machines inside state machine inside concurrency containers still blocked during execution.
[flexbe_core] Slightly reworked monitoring state
[flexbe_core] Fixed preemption of concurrency container
[flexbe_core] Added container for concurrent execution
Changed absolute topic references to relative
[flexbe_core] Improved proxy interface
[flexbe_core] Reverted last change, will only publish state updates when being controlled
[flexbe_core] Always send outcome update, even if not being controlled
Removed some old and unused project files
Initial commit of software
Contributors: Alberto, Alireza, David Conner, Dorian Scholz, DorianScholz, Felix Mauch, Mark Prediger, Philipp Schillinger