ros-one-joint-trajectory-controller (0.22.0-0noble.20260221.2115) UNRELEASED; urgency=medium

  * Append timestamp when binarydeb was built.

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sat, 21 Feb 2026 21:15:47 +0000

ros-one-joint-trajectory-controller (0.22.0-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 22 May 2024 00:00:00 -0000

ros-one-joint-trajectory-controller (0.21.2-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 03 Sep 2023 00:00:00 -0000

ros-one-joint-trajectory-controller (0.21.1-0noble) noble; urgency=high

  * Don't hardcode plugin library path
  * Contributors: Jochen Sprickerhof

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 31 Jan 2023 00:00:00 -0000

ros-one-joint-trajectory-controller (0.21.0-0noble) noble; urgency=high

  * std::bind and placeholders instead of boost
  * Contributors: Lucas Walter

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 21 Oct 2022 00:00:00 -0000

ros-one-joint-trajectory-controller (0.20.0-0noble) noble; urgency=high

  * Fix joint trajectory controller so results message is returned on tolerance failures
  * added description for joint trajectory controller path/goal tolerance violation to action result, include which joint violated tolerance and by how much
  * I think this was responsible for at least some std::runtime_errors
    Duration is out of dual 32-bit range
    that came from initializing a ros::Duration with an uninitialized double
  * Drop old C++ standard
  * Use new boost bind placeholders
  * Add <?xml version=1.0?> to every .launch and .test file
  * Contributors: Jochen Sprickerhof, Levi Armstrong, Lucas Walter, grejj

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 06 May 2022 00:00:00 -0000

ros-one-joint-trajectory-controller (0.19.0-0noble) noble; urgency=high

  * Set time_from_start for state error too
  * joint_trajectory_controller: add time_from_start feedback
  * Contributors: Alexander Rössler, Bence Magyar, Matt Reynolds

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 13 Jun 2021 00:00:00 -0000

ros-one-joint-trajectory-controller (0.18.1-0noble) noble; urgency=high

  * Format CMakeLists.txt and package.xml files + clean deps of joint_trajectory_controller
  * Contributors: Mateus Amarante Araújo

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 03 Dec 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.18.0-0noble) noble; urgency=high

  * Increase joint0 smoothing to force goal tolerance violation
  * Add pathToleranceViolationSingleJoint and goalToleranceViolationSingleJoint tests
  * Allow setting 'smoothing' to each joint of rrbot
  * Only update state_joint_error_  values in loop where used
  * JointTrajectoryController: Fix tolerance checking to use state error from the correct joints
  * Fix missing virtual destructor
  * Contributors: Bence Magyar, Doug Morrison, Mateus Amarante, Tyler Weaver

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 11 Oct 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.17.0-0noble) noble; urgency=high

  * Add extension point in update function to allow derived classes to perform e.g. additional checks.
  * The stop- and hold-trajectory creation is moved into separate classes,
    to allow derived classes to re-use the stop- and hold-trajectory
    creation code.
  * The old desired state and the old time data are now also stored,
    to allow derived classes to perfrom more comprehensive checks, etc.
  * Contributors: Pilz GmbH and Co. KG, Bence Magyar

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 12 May 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.16.1-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 27 Apr 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.16.0-0noble) noble; urgency=high

  * Bump CMake version to prevent CMP0048
  * Add #pragma once to new joint_trajectory_controller test
  * Replace header guard with #pragma once
  * Modernize xacro
    - Remove '--inorder'
    - Use 'xacro' over 'xacro.py'
  * Add code_coverage target to CMakeLists.txt
  * Contributors: Bence Magyar, Immanuel Martini, Matt Reynolds

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 16 Apr 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.15.1-0noble) noble; urgency=high

  * Fix instabilities in JTC unittests
  * Add test_common.h
  * Re-enable tolerance tests
  * Make initialization of variables consistent
  * Let getState() return by value
  * Use nullptr (#447 <https://github.com/ros-controls/ros_controllers/issues/447>)
  * Comment out tolerance check tests until #48 <https://github.com/ros-controls/ros_controllers/issues/48> is solved.
  * Execution does not stop when goal gets aborted
  * Fix how we assert that controller is running
  * Introduce EPS for general double comparison
  * Make stopramp tests more stable
  * add missing pluginlib deps. (#451 <https://github.com/ros-controls/ros_controllers/issues/451>)
  * Print error messages for all exceptions
  * Contributors: Bence Magyar, Ian Frosst, Immanuel Martini, Matt Reynolds, Sean Yen

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 09 Mar 2020 00:00:00 -0000

ros-one-joint-trajectory-controller (0.15.0-0noble) noble; urgency=high

  * Default all controller builds to C++14
  * Use range-based for loops wherever possible
  * boost::array -> std::array
  * mutex to C++11, boost::scoped_lock -> std::lock_guard
  * boost::scoped_ptr -> std::unique_ptr
  * boost::shared_ptr -> std::shared_ptr
  * fix install destination for libraries (#403 <https://github.com/ros-controls/ros_controllers/issues/403>)
  * Contributors: Bence Magyar, Gennaro Raiola, James Xu

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 26 Mar 2019 00:00:00 -0000

ros-one-joint-trajectory-controller (0.14.3-0noble) noble; urgency=high

  * use operators instead of aliases
  * joint_trajectory_controller: fix minor typo in class doc.
  * correctly parse joint trajectory options
  * Remove deprecated parameter hold_trajectory_duration (#386 <https://github.com/ros-controls/ros_controllers/issues/386>)
  * dont print warning about dropped first point, if it is expected behaviour
  * Contributors: AndyZe, G.A. vd. Hoorn, Gennaro Raiola, James Xu, Joachim Schleicher, Karsten Knese

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sat, 09 Feb 2019 00:00:00 -0000

ros-one-joint-trajectory-controller (0.14.2-0noble) noble; urgency=high

  * Report errors in updateTrajectoryCommand back though action result error_string
  * Remove redundant warning messages
  * Return error string when failing to initialize trajectory from message
  * Changes to allow inheritance from JointTrajectoryController.
  * Update maintainers
  * Contributors: Alexander Gutenkunst, Miguel Prada, Mathias Lüdtke, Bence Magyar

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 23 Oct 2018 00:00:00 -0000

ros-one-joint-trajectory-controller (0.14.1-0noble) noble; urgency=high

  * joint_trajectory_controller tests stability improved
  * Use a copy of rt_active_goal in update()
  * Contributors: Kei Okada, Ryosuke Tajima

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 26 Jun 2018 00:00:00 -0000

ros-one-joint-trajectory-controller (0.14.0-0noble) noble; urgency=high

  * Make the compiler happy in the test.
  * migrate to new pluginlib headers
  * TrajectoryController: Use desired state to calculate hold trajectory (#297 <https://github.com/ros-controls/ros_controllers/issues/297>)
  * Add velocity feedforward term to velocity HardwareInterfaceAdapter (#227 <https://github.com/ros-controls/ros_controllers/issues/227>)
  * Contributors: Chris Lalancette, Mathias Lüdtke, Miguel Prada, agutenkunst

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 27 Apr 2018 00:00:00 -0000

ros-one-joint-trajectory-controller (0.13.2-0noble) noble; urgency=high

  * Changend the implementation of joint_trajectory_controller to enable the forwarding of the acceleration values from the trajectory
  * Contributors: Bence Magyar, Mart Moerdijk

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sat, 23 Dec 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.13.1-0noble) noble; urgency=high

  * Linted pos_vel joint_trajectory_controllers
  * Added posvel joint_trajectory_controller
    Added a simple posvel joint_trajectory_controller that forwards
    the desired state at the current point in time of the trajectory
    to the joint.
  * Add support for an joint interfaces are not inherited from JointHandle.
    Add JointTrajectoryController specification for SplineJointInterface.
  * Contributors: Gennaro Raiola, Igorec, Zach Anderson

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 06 Nov 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.13.0-0noble) noble; urgency=high

  * Make rqt_plot optional
  * Added tests for issue #275 <https://github.com/ros-controls/ros_controllers/issues/275>
  * Address Issue  #275 <https://github.com/ros-controls/ros_controllers/issues/275> for kinetic
  * Address issue #263 <https://github.com/ros-controls/ros_controllers/issues/263>, joint_trajectory_controller - wraparoundOffset
  * Added warning to indicate that the verbose flag is enabled
  * Set hold trajectory goal handle when empty trajectory received through action.
    Previously, an empty trajectory received through the action interface would
    set hold trajectory and accept the action goal, but the action would never be
    terminated, leaving clients hanging.
  * Contributors: Bence Magyar, Miguel Prada, bponsler, gennaro

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Thu, 10 Aug 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.12.3-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Sun, 23 Apr 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.12.2-0noble) noble; urgency=high

  * Remove rqt_plot test_depend & make plots optional
  * Contributors: Bence Magyar

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 21 Apr 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.12.1-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 08 Mar 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.12.0-0noble) noble; urgency=high

  * Fix missing controller_manager include
  * Ordered dependencies & cleanup
  * Change for format2
  * Add Enrique and Bence to maintainers
  * Add test that sends trajectory entirely in past
  * Use xacro instead of xacro.py
  * urdf::Model typedefs had to be added to a different repo first
  * Updated copyright info
  * jtc: Enable sending trajectories with a partial set of joints
  * Replace boost::shared_ptr<urdf::XY> with urdf::XYConstSharedPtr when exists
  * Infrastructure for testing the velocity_controllers::JointTrajectoryController.
  * jtc: Enable sending trajectories with a partial set of joints
  * Contributors: Beatriz Leon, Bence Magyar, Miguel Prada

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 15 Feb 2017 00:00:00 -0000

ros-one-joint-trajectory-controller (0.11.2-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 16 Aug 2016 00:00:00 -0000

ros-one-joint-trajectory-controller (0.11.1-0noble) noble; urgency=high

  * Write feedback for the RealtimeServerGoalHandle to publish on the non-realtime thread.
  * Contributors: Miguel Prada

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 23 May 2016 00:00:00 -0000

ros-one-joint-trajectory-controller (0.11.0-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 03 May 2016 00:00:00 -0000

ros-one-joint-trajectory-controller (0.10.0-0noble) noble; urgency=high

  * Add joint limits spec to rrbot test robot
  * Address -Wunused-parameter warnings
  * Reset to semantic zero in HardwareInterfaceAdapter for PositionJointInterface
  * Contributors: Adolfo Rodriguez Tsouroukdissian, ipa-fxm

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 20 Nov 2015 00:00:00 -0000

ros-one-joint-trajectory-controller (0.9.2-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 04 May 2015 00:00:00 -0000

ros-one-joint-trajectory-controller (0.9.1-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 03 Nov 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.9.0-0noble) noble; urgency=high

  * Check that waypoint times are strictly increasing before accepting a command
  * velocity_controllers::JointTrajectoryController: New plugin variant for
    velocity-controlled joints
  * Buildsystem fixes
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Lukas Bulwahn, ipa-fxm, Dave Coleman

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 31 Oct 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.8.1-0noble) noble; urgency=high

  * joint_trajectory_controller: Critical targets declared before calling catkin_package
  * check for CATKIN_ENABLE_TESTING
  * Contributors: Jonathan Bohren, Lukas Bulwahn

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 11 Jul 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.8.0-0noble) noble; urgency=high

  * Remove rosbuild artifacts. Fix #90 <https://github.com/ros-controls/ros_controllers/issues/90>.
  * Contributors: Adolfo Rodriguez Tsouroukdissian

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 12 May 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.7.2-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Tue, 01 Apr 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.7.1-0noble) noble; urgency=high



 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 31 Mar 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.7.0-0noble) noble; urgency=high

  * Add support for an joint interfaces are not inherited from JointHandle.
  * Contributors: Igorec

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Fri, 28 Mar 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.6.0-0noble) noble; urgency=high

  * Merge pull request #72 <https://github.com/ros-controls/ros_controllers/issues/72> from pal-robotics/minor-maintenance
    Minor maintenance
  * Default stop_trajectory_duration to zero. Refs #73 <https://github.com/ros-controls/ros_controllers/issues/73>
  * Better logs when dropping traj points. Refs #68 <https://github.com/ros-controls/ros_controllers/issues/68>.
  * Fix class member reorder warning in constructor.
  * Add missing headers to target files.
  * Action interface rejects empty goals. Fixes #70 <https://github.com/ros-controls/ros_controllers/issues/70>.
  * Reorder how time and traj data are updated.
    In the update method, fetching the currently executed trajectory should be done
    before updating the time data to prevent a potential scenario in which there
    is no trajectory defined for the current control cycle.
  * Work tolerance checking methods.
    Until now we used the currently active goal handle for performing tolerance
    checks. Using the goal handle stored in segments is more robust to unexpected
    goal updates by the non-rt thread.
  * Refactor how the currrent trajectory is stored.
    - Handle concurrency in the current trajectory between rt and non-rt threads
    using the simpler RealtimeBox instead of the RealtimeBuffer, because our
    usecase does not fit well the non-rt->writes / rt->reads semantics.
    - As a consequence we no longer need to store the msg_trajectory member, but
    only the hold_trajectory, which must still be preallocated.
  * Honor unspecified vel/acc in ROS message. Fix #65 <https://github.com/ros-controls/ros_controllers/issues/65>.
  * Fixes per Adolfo
  * Added verbose flag
  * Fixing realtime issues
  * Merge branch 'hydro-devel' into joint_trajectory_tweaks
  * Tweaked error messages
  * Added more debug info
  * Fix for microsecond delay that caused header time=0 (now) to start too late
  * Reworded debug message
  * Image update.
  * Update README.md
    Factor out user documentation to the ROS wiki.
  * Merge branch 'hydro-devel' of https://github.com/willowgarage/ros_controllers into hydro-devel
  * Rename hold_trajectory_duration
    - hold_trajectory_duration -> stop_trajectory_duration for more clarity.
    - During Hydro, hold_trajectory_duration will still work, giving a deprecation
    warning.
  * Add basic description in package.xml.
  * Add images used in the ROS wiki doc.
  * Added better debug info
  * Throttled debug output
  * Added more debug and error information
  * Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 05 Feb 2014 00:00:00 -0000

ros-one-joint-trajectory-controller (0.5.4-0noble) noble; urgency=high

  * Added install rules for plugin.xml
  * Remove PID sign flip.
    This is now done in the state error computation.
  * Merge pull request #45 <https://github.com/davetcoleman/ros_controllers/issues/45> from ros-controls/effort_fixes
    Added check for ~/robot_description and fixed hardware interface abstraction bug
  * Flip state error sign.
  * PID sign was wrong
  * Added check for ~/robot_description and fixed hardware interface abstraction bug
  * Update README.md
  * Create README.md
  * Fix license header string for some files.
  * Less verbose init logging.
    Statement detailing controller joint count, as well as segment and hardware
    interface types moved from INFO to DEBUG severity.

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Mon, 30 Sep 2013 00:00:00 -0000

ros-one-joint-trajectory-controller (0.5.3-0noble) noble; urgency=high

  * joint_trajectory_controller: New package implementing a controller for executing joint-space trajectories on a
    set of joints.
    
      * ROS API
        
          * Commands: FollowJointTrajectory action and trajectory_msgs::JointTrajectory topic.
          * Current controller state is available in a control_msgs::JointTrajectoryControllerState topic.
          * Controller state at any future time can be queried through a control_msgs::JointTrajectoryControllerState
            service.
        
      * Trajectory segment type
        
          * Controller is templated on the segment type.
          * Multi-dof quintic spline segment implementation provided by default.
        
      * Hardware interface type
        
          * Controller is templated on the hardware interface type.
          * Position and effort control joint interfaces provided by default.
        
      * Other
        
          * Realtime-safe.
          * Proper handling of wrapping (continuous) joints.
          * Discontinuous system clock changes do not cause discontinuities in the execution of already queued
            trajectory segments.
        
    

 -- Bence Magyar <bence.magyar.robotics@gmail.com>  Wed, 04 Sep 2013 00:00:00 -0000


