Upgraded for PyTrees 2.2.x and ROS2 Humble.
Bugfixes for PyTrees 2.2.x
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
andtree-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