Release notes from modulo

Version 5.3.0

2026-01-14T07:06:05Z

Version 5.3.0 is a minor release of modulo that includes a fix for checking whether wrench values are finite during controller activation, as well as two extensions to controllers: enabling the control type of a controller to be changed post-construction, and adding lock-free service addition helpers that allow service calls to be used for demanding computations, without blocking the control loop.

fix(controllers): check for finite wrench values (#216)
feat(controllers): allow control type change after construction (#217)
feat(controllers): implement lock-free service wrappers for demanding callbacks (#218)

Version 5.2.3

2025-10-07T14:26:40Z

Version 5.2.3 is a patch release that correctly handles already existing parameters of the base controller class to enable advanced functionality like running controllers asynchronously or at a lower rate than the controller manager.

feat(controllers): expose parameters from base class (#214)

Version 5.2.2

2025-07-01T06:32:35Z

Version 5.2.2 is a patch release that makes sure that the joint commands are reset on deactivation in the modulo_controllers::RobotControllerInterface. This ensures that any previous joint command is cleared when a derived controller is activated again.

fix(controllers): reset previous joint commands (#211)

Version 5.2.1

2025-05-20T05:58:14Z

Starting with version 5.2.1, the Python component interfaces verify the return values of execution and lifecycle
callbacks to avoid unexpected behavior. Additionally, it contains a fix that puts a parameter in the correct controller
base class.

feat(components): verify return value of callbacks (#206)
fix(controllers): move input validity period to base (#207)

Version 5.2.0

2025-03-31T11:30:12Z

Version 5.2.0 is a minor relase of modulo that includes a simplified version of TF in joint space. With a
JointPositionsBroadcaster and JointPositionsListener from the core package, named static joint configurations can be
sent and looked up from a global /joint_positions topic, equivalent to /tf_static. Additionally, this version
contains a couple of improvements for the custom message publisher and subscriber interfaces and to the component
interface.

feat: improve devcontainer configuration (#198)
feat(components): use parent node for tf listener (cpp) (#189)
fix(core): handle custom message pub/sub that also exist in translators (#199)
feat(interfaces): add joint positions messages (#193)
feat(core): add joint positions broadcaster and listener (#197, #201)

Dependencies

ros2-ws: v2.0.0-jazzy -> v2.0.2-jazzy (#198)
package-builder: v1.3.0 -> v1.4.0 (#198)

Version 5.1.0

2024-12-16T17:36:04Z

December 16th, 2024

Version 5.1.0 is an update to modulo that brings a small feature that removes the need of specifying the clproto message type when adding outputs in Python components. For user friendliness, the clproto message type is inferred from the type of the attribute with a helper function. Additionally, this version contains a few fixes that further improve the behavior of components under the hood.

fix(components): remove incorrect log line (#166)
fix(controllers): move predicate publishing rate parameter to BaseControllerInterface (#168)
feat(components): get clproto message type from attribute (#175)
fix(components): add missing test case (#181)
fix(components): clean up lifecycle nodes properly (#178)
fix(components): try catch subscription callbacks (#167)

v5.1.0-rc0003

2024-12-13T09:45:46Z

fix(components): try catch subscription callbacks (#167)

v5.1.0-rc0002

2024-12-12T07:17:30Z

fix(components): clean up lifecycle nodes properly (#184)

v5.1.0-rc0001

2024-12-05T20:27:44Z

release: version 5.1.0-rc0001 (#177)

Version 5.0.2

2024-11-11T16:40:54Z

November 11th, 2024

Version 5.0.2 fixes an incorrect condition in the controller triggers and changes the parameter type of the predicate
rate parameter in the controller base class from an integer type to a double type. Additionally, the component interface
class for Python was revised to hide private attributes better from derived classes.

fix(controllers): change predicate rate to double type (#163)
fix(controllers): trigger check (#164)
fix(components): make all possible attributes private (#162)

Dependencies

package-builder: v1.1.1 -> 1.3.0 (#165)