v2.2.x

Upgraded for PyTrees 2.2.x and ROS2 Humble.

Bugfixes for PyTrees 2.2.x

• Use explicit arguments for behaviour names and composite memory, policy flags, #191, #196, #201

Be sure to check your code and make your arguments explicit! i.e.

# Correct
parallel = py_trees.composite.Parallel(
    name="Parallel",
    policy=py_trees.common.ParallelPolicy.SuccessOnAll()
)
# Will Fail
parallel = py_trees.composite.Parallel()

New in PyTrees 2.2.x

Refer to the Release Notes

Bugfixes for Humble

• fix float errors related to time and duration, #200
• eliminate qos policy deprecation warnings, #187
• fix never ending accumulation of blackboard-watcher streams on the ros graph, #194
• fix blackboard-watcher and tree-watcher shutdown crashes, #194, #196

You may want to pay attention to #194, #196. A typical rclpy node will crash on CTRL-C if you've called rclpy.shutdown().

In humble, prefer:

except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
     pass
finally:
     mynode.shutdown()
     rclpy.try_shutdown()

New in Humble

• Pass node and node name arguments to tree setup, #188