CHANGELOG

Changelog for package ros2_medkit_opcua

Initial release
OpcuaPlugin implementation of GatewayPlugin and IntrospectionProvider that bridges OPC-UA capable PLCs into the SOVD entity tree
REST endpoints via the new get_routes() plugin API: x-plc-data, x-plc-operations, x-plc-status
Vendor capabilities registered per entity - only PLC-backed apps and the PLC runtime component advertise the x-plc-* endpoints
Full OPC 10000-6 section 5.3.1.10 node identifier support (i= numeric, s= string, g= GUID, b= opaque ByteString); example node maps for OpenPLC, Siemens S7-1500 TIA Portal, Beckhoff TwinCAT 3, Allen-Bradley via Kepware and KUKA KR C5
NodeMap driven by YAML configuration - same binary serves any OPC-UA compliant server by changing the node map file
Deterministic entity ordering in IntrospectionResult output (entries sorted by id)
Threshold-based PLC alarm detection routed to SOVD faults via ros2_medkit_msgs services ReportFault / ClearFault
Optional bridging of numeric PLC values to ROS 2 std_msgs/Float32 topics from set_context()
Type-aware writes with per-node range validation
Robust connection-loss detection: all three OPC-UA client paths (read_value, read_values, write_value) mark the connection as dropped on terminal status codes so OpcuaPoller reconnect kicks in without stalling
Polling mode (default) and OPC-UA subscription mode, backed by open62541pp v0.16.0
Integration test suite against an OpenPLC IEC 61131-3 tank demo container
Contributors: @mfaferek93