v15.0.0-beta

Breaking Changes

• New dependency armw "Agnostic Robot Middleware" https://git.whoi.edu/ros/armw
  • armw is a library that creates an equivalent API for ROS1 and ROS2. This allows the same code to run in ROS1 and ROS2 depending on the build system.
• All messages with a std_msgs/Time or std_msgs/Duration field have been updated to ros_acomms_msgs/Time or ros_acomms_msgs/Duration type. This is required because of the way ROS2 has changed the time type and how we are able to handle this in armw.
• All codec definitions that include a field of ros type ros_acomms_msgs/Time or ros_acomms_msgs/Duration using the rostime codec must include a ros_type field. e.g.,

  rx_time:
    codec: rostime
    ros_type: 'ros_acomms_msgs/Time'
    epoch_end: 1735722000```

• All nodes that were previously using dynamic_reconfigure now use armw.ros1.ddyanmic_reconfigure (bundled with armw). The fields available in using armw.ros1.ddyanmic_reconfigure match the fields previously available with dynamic_reconfigure. This is effectively backwards compatible.
• Unit tests now use a group level clear_params="true".

New Features / Improvements

• New non TDMA MACs available.
  • mac_send_immediately.py: Intended for single vehicle and operator use. This MAC sends a packet as soon as one is in the queue (operator). This node is tested in test_ptp_mac.py.
  • mac_send_on_request.py: Intended for single vehicle and operator use. This MAC will send a packet upon request. There is a new message ros_acomms_msgs/DataRequest.msg that mac_send_immediately.py will act on. Currently is will send the highest priority messages. In the future this MAC will use QoS tags sent in the ros_acomms_msgs/DataRequest.msg to select messages for sending. This node is tested in test_ptp_mac.py.
  • udp_bridge.py: Simple UDP bidirectional pipe. Needs testing and does not currently have a unit test.