Estás leyendo la documentación para una versión de desarrollo. Para la última versión publicada, por favor revisa Humble.

ROS 2 Iron Irwini (codename “iron”; May, 2023)

Table of Contents

Iron Irwini is the ninth release of ROS 2. What follows is highlights of the important changes and features in Iron Irwini since the last release.

Supported Platforms 

Iron Irwini is primarily supported on the following platforms:

Tier 1 platforms:

Ubuntu 22.04 (Jammy): amd64 and arm64
Windows 10 (Visual Studio 2019): amd64

Tier 2 platforms:

RHEL 9: amd64

Tier 3 platforms:

macOS: amd64
Debian Bullseye: amd64

For more information about RMW implementations, compiler / interpreter versions, and system dependency versions see REP 2000.

New features in this ROS 2 release 

It is now possible to enable service introspection on a per-service basis. When enabled, this allows users to see the metadata associated with the client requesting a service, the server accepting the request, the server sending the response, and the client accepting the response. Optionally, the contents of the client/server requests/responses can also be introspected. All of the information is published on a hidden topic generated from the name of the service. So if the service is called /myservice, then the information will be published on /myservice/_service_event.

Note that this functionality is disabled by default; to enable it, users must call configure_introspection after creating a server client or server. There are examples showing how to do this in https://github.com/ros2/demos/tree/rolling/demo_nodes_cpp/src/services (C++) and https://github.com/ros2/demos/blob/rolling/demo_nodes_py/demo_nodes_py/services/introspection.py (Python).

See REP 2012 and the tracking bug at https://github.com/ros2/ros2/issues/1285 for more information.

Pre and post set parameter callback support 

For many releases now, users could register a callback to be called when parameters on a node were changed by an external entity (like ros2 param set). This callback could examine the changed parameter types and values, and reject the whole lot if one of them didn’t meet certain criteria. However, it could not modify the parameter list, nor should it have modified state (since there might be other callbacks after the set one that would reject the parameters).

This release adds in a pre and post callback. The callbacks are called in this order:

The «pre» set parameter callback, which can modify the list of parameters based on arbitrary criteria.
The «set» parameter callback, which cannot modify the list and should only accept or reject the parameters based on their type and value (this is the existing callback).
The «post» set parameter callback, which can make state changes based on parameters and is only called if the previous two callbacks are successful.

There are examples of this in action in https://github.com/ros2/demos/blob/rolling/demo_nodes_cpp/src/parameters/set_parameters_callback.cpp (C++) and https://github.com/ros2/demos/blob/rolling/demo_nodes_py/demo_nodes_py/parameters/set_parameters_callback.py (Python).

See https://github.com/ros2/rclcpp/pull/1947, https://github.com/ros2/rclpy/pull/966, and https://github.com/ros2/demos/pull/565 for more information.

`launch`

`PythonExpression` now supports importing modules

It is now possible to have a launch PythonExpression import modules before performing the evaluation. This can be useful for pulling in additional functionality to be used when evaluating an expression.

See https://github.com/ros2/launch/pull/655 for more information.

`ReadyToTest` can be called from an event handler

It is now possible to register an event handler that uses ReadyToTest in its output. This can be useful for doing things like downloading an asset before allowing a test to run.

See https://github.com/ros2/launch/pull/665 for more information.

Addition of `AnySubstitution` and `AllSubstitution`

It is now possible to specify a substitution to happen when any of the input arguments are true (AnySubstitution), or when all of the input arguments are true (AllSubstitution).

See https://github.com/ros2/launch/pull/649 for more details.

Addition of a new substitution to get the launch logging directory

It is now possible to use a substitution called LaunchLogDir to get the current logging directory for launch.

See https://github.com/ros2/launch/pull/652 for more details.

`launch_ros`

Add a `LifecycleTransition` action

It is now possible to send a transition signal to a lifecycle node via the new LifeCycleTransition action.

See https://github.com/ros2/launch_ros/pull/317 for more information.

Add a `SetROSLogDir` action

It is now possible to configure the directory used for logging via the SetROSLogDir action.

See https://github.com/ros2/launch_ros/pull/325 for more information.

Ability to specify a condition to a `ComposableNode`

It is now possible to specify a condition that must be satisfied in order for a ComposableNode to be inserted into its container.

See https://github.com/ros2/launch_ros/pull/311 for more information.

`launch_testing`

Timeout for process startup is now configurable

Prior to this release, the ReadyToTest action would wait exactly 15 seconds for processes to start up. If the processes took longer than that, they would fail. There is now a new decorator called ready_to_test_action_timeout that allows the user to configure the amount of time to wait for the processes to start.

See https://github.com/ros2/launch/pull/625 for more information.

`rclcpp`

Addition of a new paradigm for handling `Node` and `LifecycleNode`

The Node and LifecycleNode classes are related in that they both provide the same base set of methods (though LifecycleNode provides additional methods as well). Due to various implementation considerations, they are not derived from a common base class.

This has led to some trouble for downstream code that wants to accept either a Node or a LifecycleNode. One solution is to have two method signatures, one that accepts a Node and one that accepts a LifecycleNode. The other, recommended solution is to have a method that accepts the «node interfaces» pointers that can be accessed from both classes, e.g.

void do_thing(rclcpp::node_interfaces::NodeGraphInterface graph)
{
  fprintf(stderr, "Doing a thing\n");
}

void do_thing(rclcpp::Node::SharedPtr node)
{
  do_thing(node->get_node_graph_interface());
}

void do_thing(rclcpp::LifecycleNode::SharedPtr node)
{
  do_thing(node->get_node_graph_interface());
}

This works, but can get a bit unwieldy when many node interfaces are needed. To make this a bit better, there is now a new NodeInterfaces class that can be constructed to contain the interfaces, and then be used by other code.

There are examples on how to use this in https://github.com/ros2/rclcpp/pull/2041.

`rclpy`

Ability to wait for another node to join the graph

It is now possible to wait for another node to join the network graph with code like the following:

node.wait_for_node('/fully_qualified_node_name')

See https://github.com/ros2/rclpy/pull/930 for more information.

Implementation of `AsyncParameterClient`

rclpy now has an AsyncParameterClient class, bringing it to feature parity with rclcpp. This class is used to perform parameter actions on a remote node without blocking the calling node.

See https://github.com/ros2/rclpy/pull/959 for more information and examples.

Subscription callbacks can now optionally get the message info

It is now possible to register for a subscription callback with a function signature that takes both the message, and the message info, like:

def msg_info_cb(msg, msg_info):
    print('Message info:', msg_info)

node.create_subscription(msg_type=std_msgs.msg.String, topic='/chatter', qos_profile=10, callback=msg_info_cb)

The message info structure contains various pieces of information like the sequence number of the message, the source and received timestamps, and the GID of the publisher.

See https://github.com/ros2/rclpy/pull/922 for more information.

`ros2param`

Option to timeout when waiting for a node with `ros2 param`

It is now possible to have the various ros2 param commands timeout by passing --timeout to the command.

See https://github.com/ros2/ros2cli/pull/802 for more information.

`ros2topic`

`now` as keyword for `builtin_interfaces.msg.Time` and `auto` for `std_msgs.msg.Header`

ros2 topic pub now allows to set a builtin_interfaces.msg.Time message to the current time via the now keyword. Similarly, a std_msg.msg.Header message will be automatically generated when passed the keyword auto. This behavior matches that of ROS 1’s rostopic (http://wiki.ros.org/ROS/YAMLCommandLine#Headers.2Ftimestamps)

Related PR: ros2/ros2cli#749

`ros2 topic pub` can be configured to wait a maximum amount of time

The command ros2 topic pub -w 1 will wait for at least that number of subscribers before publishing a message. This release adds in a --max-wait-time option so that the command will only wait a maximum amount of time before quitting if no subscribers are seen.

See https://github.com/ros2/ros2cli/pull/800 for more information.

`ros2 topic echo` can be configured to wait a maximum amount of time

The command ros2 topic echo now accepts a --timeout option, which controls the maximum amount of time that the command will wait for a publication to happen.

See https://github.com/ros2/ros2cli/pull/792 for more information.

Changes since the Humble release 

Change to the default console logging file flushing behavior 

This specifically applies to the default spdlog based logging backend in ROS 2, implemented in rcl_logging_spdlog. Log file flushing was changed to flush every time an «error» log message is used, e.g. each RCLCPP_ERROR() call, and also periodically every five seconds.

Previously, spdlog was used without configuring anything other than creating the sink for logging to a file.

We tested the change and did not find that the CPU overhead was significant, even on machines with slow disks (e.g. sd cards). However, if this change is causing you problems, you can get the old behavior by setting the RCL_LOGGING_SPDLOG_EXPERIMENTAL_OLD_FLUSHING_BEHAVIOR=1 environment variable.

Later we would like to have support for a full configuration file (see: https://github.com/ros2/rcl_logging/issues/92), giving you more flexibility in how the logging is done, but that is work that is only planned right now.

Therefore, this environment variable should be considered experimental and subject to removal without deprecation in the future, when we add config file support for the rcl_logging_spdlog logging backend.

See this pull request for more details about the change: https://github.com/ros2/rcl_logging/pull/95

`ament_cmake_auto`

Include dependencies are now marked as SYSTEM

When using ament_auto_add_executable or ament_auto_add_library, dependencies are now automatically added as SYSTEM. This means that warnings in the header files of the dependencies will not be reported.

See https://github.com/ament/ament_cmake/pull/385 for more details.

`ament_cmake_nose`

Package has been deprecated and removed

The Python nose package has long been deprecated. Since none of the open-source packages currently released into Humble or Rolling currently depend on it, this release deprecates and removes the ament wrapper around it.

See https://github.com/ament/ament_cmake/pull/415 for more information.

`ament_lint`

Files can be excluded from linter checks

Certain files can now be excluded from linter checks by setting the AMENT_LINT_AUTO_FILE_EXCLUDE CMake variable before calling ament_lint_auto_find_test_dependencies.

See https://github.com/ament/ament_lint/pull/386 for more information.

`camera_info_manager`

Lifecycle node support

camera_info_manager now supports lifecycle nodes in additional to regular ROS 2 nodes.

See https://github.com/ros-perception/image_common/pull/190 for more information.

`launch`

`LaunchConfigurationEquals` and `LaunchConfigurationNotEquals` are deprecated

The LaunchConfigurationEquals and LaunchConfigurationNotEquals conditions are deprecated, and will be removed in a future release. Instead, the more universal Equals and NotEquals substitutions should be used instead.

See https://github.com/ros2/launch/pull/649 for more details.

`launch_ros`

Renamed classes which used `Ros` in the name to use `ROS` in line with PEP8

Classes that were changed:

launch_ros.actions.RosTimer -> launch_ros.actions.ROSTimer
launch_ros.actions.PushRosNamespace -> launch.actions.PushROSNamespace

The old class names are still there, but will be deprecated.

See https://github.com/ros2/launch_ros/pull/326 for more information.

`launch_xml`

Expose `emulate_tty` to XML frontend

It has been possible for several releases to have the launch Python code use pseudo-terminals to emulate a TTY (and hence do things like print colors). That functionality is now available in the XML frontend by passing the emulate_tty argument to an executable command.

See https://github.com/ros2/launch/pull/669 for more information.

Expose `sigterm_timeout` and `sigkill_timeout` to XML frontend

It has been possible for several releases to configure the maximum timeout value for the SIGTERM and SIGKILL signals in the launch Python code. That functionality is now available in the XML frontend by passing the sigterm_timeout or sigkill_timeout argument to an executable command.

See https://github.com/ros2/launch/pull/667 for more information.

`launch_yaml`

Expose `emulate_tty` to YAML frontend

It has been possible for several releases to have the launch Python code use pseudo-terminals to emulate a TTY (and hence do things like print colors). That functionality is now available in the YAML frontend by passing the emulate_tty argument to an executable command.

See https://github.com/ros2/launch/pull/669 for more information.

Expose `sigterm_timeout` and `sigkill_timeout` to YAML frontend

It has been possible for several releases to configure the maximum timeout value for the SIGTERM and SIGKILL signals in the launch Python code. That functionality is now available in the YAML frontend by passing the sigterm_timeout or sigkill_timeout argument to an executable command.

See https://github.com/ros2/launch/pull/667 for more information.

`message_filters`

New approximate time policy

Add in a simpler approximate time policy called ApproximateEpsilonTime. This time policy works like ExactTime, but allows timestamps being within a epsilon tolerance. See https://github.com/ros2/message_filters/pull/84 for more information.

New upsampling time policy

Adds in a new time policy called LatestTime. It can synchronize up to 9 messages by their rates with upsampling via zero-order-hold. See https://github.com/ros2/message_filters/pull/73 for more information.

`rcl_yaml_param_parser`

Support for YAML `!!str` syntax in parameter files

It is now possible to force the ROS parameter file parser to interpret a field as a string using the YAML !!str syntax. See https://github.com/ros2/rcl/pull/999 for more information.

`rclcpp`

Default number of threads for multi-threaded executor has been changed

If the user doesn’t specify otherwise, the default number of threads for the multi-threaded executor will be set to the number of CPUs on the machine. If the underlying OS doesn’t support getting this information, it will be set to 2.

See https://github.com/ros2/rclcpp/pull/2032 for more information.

A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0

Specifying a QoS of KEEP_LAST with a depth of 0 is a nonsensical arrangement, since the entity wouldn’t be able to send or receive any data. rclcpp will now print a warning if this combination is specified, but will still continue on and let the underlying middleware choose a sane value (generally a depth of 1).

See https://github.com/ros2/rclcpp/pull/2048 for more information.

Deprecated `RCLCPP_SCOPE_EXIT` macro was removed

In Humble, the macro RCLCPP_SCOPE_EXIT was deprecated in favor of RCPPUTILS_SCOPE_EXIT. In Iron, the RCLCPP_SCOPE_EXIT macro has been completely removed.

`rclpy`

Default number of threads for multi-threaded executor has been changed

If the user doesn’t specify otherwise, the default number of threads for the multi-threaded executor will be set to the number of CPUs on the machine. If the underlying OS doesn’t support getting this information, it will be set to 2.

See https://github.com/ros2/rclpy/pull/1031 for more information.

A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0

Specifying a QoS of KEEP_LAST with a depth of 0 is a nonsensical arrangement, since the entity wouldn’t be able to send or receive any data. rclpy will now print a warning if this combination is specified, but will still continue on and let the underlying middleware choose a sane value (generally a depth of 1).

See https://github.com/ros2/rclpy/pull/1048 for more information.

`rcutils`

Improve the performance of message logging

The code used to output a log message when RCUTILS_LOG_* or RCLCPP_* was optimized to reduce overhead. These log messages should now be more efficient, though they should still not be called at high rates. See https://github.com/ros2/rcutils/pull/381, https://github.com/ros2/rcutils/pull/372, https://github.com/ros2/rcutils/pull/369, and https://github.com/ros2/rcutils/pull/367 for more information.

Deprecated `rcutils/get_env.h` header was removed

In Humble, the header rcutils/get_env.h was deprecated in favor of rcutils/env.h. In Iron, the rcutils/get_env.h header been completely removed.

`rmw`

Change the GID storage to 16 bytes

The GID in the RMW layer is meant to be a globally unique identifier for writers in the ROS graph. Previously, this was erroneously set to 24 bytes based on a bug in an old RMW implementation. But the rmw package should define this, and all of the implementations should conform to that. Thus, this release defines it as 16 bytes (the DDS standard), and changes all implementations to use that definition.

See https://github.com/ros2/rmw/pull/345 and the (closed, but relevant) https://github.com/ros2/rmw/pull/328 for more information.

`rmw_dds_common`

Change the GID storage to 16 bytes

Along with the change in the rmw layer, change the message that sends out GID information to 16 bytes.

See https://github.com/ros2/rmw_dds_common/pull/68 for more information.

`ros2topic`

`ros2 topic hz/bw/pub` now respect `use_sim_time`

When running under simulation, the ROS 2 ecosystem generally gets its time from a /clock topic published by the simulator (rather than using the system clock). ROS 2 nodes are typically informed of this change by setting the use_sim_time parameter on the node. The node created by the ros2 topic commands hz, bw, and pub now respect that parameter and will use simulation time as appropriate.

See https://github.com/ros2/ros2cli/pull/754 for more information.

`rosbag2`

Change default bag file type to `mcap`

Prior to this release, by default rosbag2 would record data into sqlite3 databases. During testing, it was found that in many cases this was not performant enough and lacked certain features desirable for offline processing.

To meet these needs, a new bag format (influenced by the original ROS 1 bag file format) called mcap was developed. This bag file format has many of the missing features from the sqlite3 file format, and should also be more performant.

This release switches to using mcap as the default file format for writing new bags. The old sqlite3 file format is still available and can be selected by the user for writing if desired. This release also allows playing back data from either the sqlite3 file format or the mcap file format.

See https://github.com/ros2/rosbag2/pull/1160 for more information.

`rviz`

Map display can now be shown as binary

The RViz map display can now display the map as binary, with a settable threshold. This is useful in some cases to inspect maps or in combination with planners that have a settable threshold.

See https://github.com/ros2/rviz/pull/846 for more information.

Camera display plugin respects the ROI in the CameraInfo message

The CameraDisplay plugin now honors the region-of-interest (ROI) settings in the CameraInfo message, if it is provided. This accounts for the fact that an image was cropped by the camera driver to reduce the bandwidth.

See https://github.com/ros2/rviz/pull/864 for more information.

Binary STL files from SOLIDWORKS work without error

A change was made to the STL loader such that it accepts binary STL files from SOLIDWORKS that have the word «solid» in them. This technically violates the STL specification, but is common enough that a special case is added to handle these files.

See https://github.com/ros2/rviz/pull/917 for more information.

Known Issues 

To come.

Release Timeline 

November, 2022 - Platform decisions
REP 2000 is updated with the target platforms and major dependency versions.

By January, 2023 - Rolling platform shift
Build farm is updated with the new platform versions and dependency versions for Iron Irwini (if necessary).

Mon. April 10, 2023 - Alpha + RMW freeze
Preliminary testing and stabilization of ROS Base 1 packages, and API and feature freeze for RMW provider packages.

Mon. April 17, 2023 - Freeze
API and feature freeze for ROS Base 1 packages in Rolling Ridley. Only bug fix releases should be made after this point. New packages can be released independently.

Mon. April 24, 2023 - Branch
Branch from Rolling Ridley. rosdistro is reopened for Rolling PRs for ROS Base 1 packages. Iron development shifts from ros-rolling-* packages to ros-iron-* packages.

Mon. May 1, 2023 - Beta
Updated releases of ROS Desktop 2 packages available. Call for general testing.

Mon. May 15, 2023 - Release Candidate
Release Candidate packages are built. Updated releases of ROS Desktop 2 packages available.

Thu. May 18, 2023 - Distro Freeze
Freeze rosdistro. No PRs for Iron on the rosdistro repo will be merged (reopens after the release announcement).

Tue. May 23, 2023 - General Availability
Release announcement. rosdistro is reopened for Iron PRs.

1(1,2,3): The ros_base variant is described in REP 2001 (ros-base).
2(1,2): The desktop variant is described in REP 2001 (desktop-variants).

Development progress 

For progress on the development and release of Iron Irwini, see the tracking GitHub issue.

For the broad process followed by Iron Irwini, see the process description page.

ROS 2 Iron Irwini (codename “iron”; May, 2023)

PythonExpression now supports importing modules

ReadyToTest can be called from an event handler

Addition of AnySubstitution and AllSubstitution

Addition of a new substitution to get the launch logging directory

Add a LifecycleTransition action

Add a SetROSLogDir action

Ability to specify a condition to a ComposableNode

Timeout for process startup is now configurable

Addition of a new paradigm for handling Node and LifecycleNode

Ability to wait for another node to join the graph

Implementation of AsyncParameterClient

Subscription callbacks can now optionally get the message info

Option to timeout when waiting for a node with ros2 param

now as keyword for builtin_interfaces.msg.Time and auto for std_msgs.msg.Header

ros2 topic pub can be configured to wait a maximum amount of time

ros2 topic echo can be configured to wait a maximum amount of time

Include dependencies are now marked as SYSTEM

Package has been deprecated and removed

Files can be excluded from linter checks

Lifecycle node support

LaunchConfigurationEquals and LaunchConfigurationNotEquals are deprecated

Renamed classes which used Ros in the name to use ROS in line with PEP8

Expose emulate_tty to XML frontend

Expose sigterm_timeout and sigkill_timeout to XML frontend

Expose emulate_tty to YAML frontend

Expose sigterm_timeout and sigkill_timeout to YAML frontend

New approximate time policy

New upsampling time policy

Support for YAML !!str syntax in parameter files

Default number of threads for multi-threaded executor has been changed

A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0

Deprecated RCLCPP_SCOPE_EXIT macro was removed

Default number of threads for multi-threaded executor has been changed

A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0

Improve the performance of message logging

Deprecated rcutils/get_env.h header was removed

Change the GID storage to 16 bytes

Change the GID storage to 16 bytes

ros2 topic hz/bw/pub now respect use_sim_time

Change default bag file type to mcap

Map display can now be shown as binary

Camera display plugin respects the ROI in the CameraInfo message

Binary STL files from SOLIDWORKS work without error

`PythonExpression` now supports importing modules

`ReadyToTest` can be called from an event handler

Addition of `AnySubstitution` and `AllSubstitution`

Add a `LifecycleTransition` action

Add a `SetROSLogDir` action

Ability to specify a condition to a `ComposableNode`

Addition of a new paradigm for handling `Node` and `LifecycleNode`

Implementation of `AsyncParameterClient`

Option to timeout when waiting for a node with `ros2 param`

`now` as keyword for `builtin_interfaces.msg.Time` and `auto` for `std_msgs.msg.Header`

`ros2 topic pub` can be configured to wait a maximum amount of time

`ros2 topic echo` can be configured to wait a maximum amount of time

`LaunchConfigurationEquals` and `LaunchConfigurationNotEquals` are deprecated

Renamed classes which used `Ros` in the name to use `ROS` in line with PEP8

Expose `emulate_tty` to XML frontend

Expose `sigterm_timeout` and `sigkill_timeout` to XML frontend

Expose `emulate_tty` to YAML frontend

Expose `sigterm_timeout` and `sigkill_timeout` to YAML frontend

Support for YAML `!!str` syntax in parameter files

Deprecated `RCLCPP_SCOPE_EXIT` macro was removed

Deprecated `rcutils/get_env.h` header was removed

`ros2 topic hz/bw/pub` now respect `use_sim_time`

Change default bag file type to `mcap`