• QoS tags
  • static queue support
  • dynamic queue support
  • ci/cd unit test for tags in dynamic queues
• Add ping_modem service endpoint to tdma_advanced for sending a ping_modem in slot rather than immediately.
• Add topic for setting tdma_advanced (and child classes) auto ping modem src: ping_modem_src via a topic of type std_msgs/UInt8

stolen from milestone v12.1.0 which we are skipping:

• Updates to tdma_scripted_node to support sending modem commands without or without having transmitted a packet
• tdma_scripted_node test_plan blocks keys are now optional. When nothing is passed for a block e.g., nothing is passed for miniframe_rate, tdma_scripted_node will just use the value it currently has set. This simplifies the test_plan yaml structure.
• Bug fixed to tdma_node that catch the timeout exc when message queue is not up with the service get_next_packet_data. Now handles that error by printing a message. Also wrapped future service proxy calls to get_next_packet_data in a try/catch and prints an informative error.