CHANGELOG

Changelog for package cl_ros2_timer

Note

This package was refactored in September 2025 from ros_timer_client. For historical changes prior to 2.3.20, see ros_timer_client/CHANGELOG.rst. The ros_timer_client package is now deprecated in favor of cl_ros2_timer.

3.1.0 (2026-05-31)

### Changed (Breaking) - cl_ros2_timer duration-based API (#61)

CbTimerCountdownOnce and CbTimerCountdownLoop now accept rclcpp::Duration via C++ chrono literals (5s, 500ms, 4min) instead of raw tick counts. Each behavior creates its own dedicated rclcpp::WallTimer, giving exact, period-independent timing with ~50ms residual from the SMACC2 SignalDetector 20 Hz polling loop.

Migration:

// Before (tick count, period-dependent)
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10);  // 10 ticks × timer period

// After (duration, period-independent)
configure_orthogonal<OrTimer, CbTimerCountdownOnce>(10s); // exactly 10 seconds

  • ClRos2Timer is now a pure marker client — the duration constructor argument has been removed. or_timer.hpp files simply call createClient<ClRos2Timer>() with no args.

### Removed - CbRos2Timer — was unused in all reference state machines; removed. - CpTimerListener1 — now orphaned after the tick-stack removal; removed.

### Contributors - Brett Aldrich

2.3.20 (2025-11-01)

  • New cl_ros2_timer unit test (#616)

  • Refactoring cl_ros2_timer to header-lite (#617)

  • Refactoring cl_ros2_timer to component-based architecture (#618)

  • Refactored cl_ros2_timer components to header-only (#619)

  • Refactor of cl_ros2_timer namespace structure (include paths) (#623)

  • Update include path for cl_ros2_timer (#629)

  • Moving reference library from ros_timer_client and keyboard_client to cl_ros2_timer and cl_keyboard (#645)

  • Contributors: Brett Aldrich, Pablo Iñigo Blasco