Breaking Changes

• Requires armw v2.0. Changes were made simultaneously to both projects to improve stability and fix a number of concurrency related bugs. (!194 (merged))
• The median_noise_dB field in the LinkStatsFeedbackMessage has been changed to median_noise_db due to ROS2 not supporting the original name. (!194 (merged))

New Features / Improvements

• Updated clock generator to use tick/tock, this significantly speeds up simulation (sometimes it is almost too fast). Added a registration service so that the modem sim can register / unregister with the clock. Clock increments after rendezvous from every connected modem sim. (!194 (merged))
• Updated unit tests to work with ROS2 (!194 (merged))
• Improved test stability by removing helper classes wherever possible, also made use of futures where needed. (!194 (merged))
• Skipped some tests that often result in failures due to race conditions (!194 (merged))
• Updated gitlab CI yml to use parallel matrix for ROS 1 & 2 testing, also swapped to using a local registry to share images between multiple CI machines (!194 (merged))
• Moved location of docker images to docker directory at root of project to keep all dockerfiles together (!194 (merged))
• Added new dockerfile for ROS2 (!194 (merged))
• Switched from loop_once back to spin called in thread. (!194 (merged))
• Added health monitor. Uses diagnostic messages to monitor status of ROS nodes. (!197 (merged))

Bugfixes

• Replacing headers with armw fill time (!194 (merged))
• Publishers / Services using None (rclpy will not autofill None) (!194 (merged))
• Concurrency bugs (such as those related to using loop_once) (!194 (merged))
• Fix slot/cycle counters for TDMA MACs (!93 (merged))
• Fixed trigger pipelines in gitlab ci, trigger pipelines get branch of triggerer. (!196 (merged))
• Health monitor improves integration test stability (!197 (merged))