3.2.1

What's Changed

• Remove ROS 2 Iron support by @sea-bass in #303
• Fix bugs in pose setting for locations by @sea-bass in #304
• 3.2.1 by @sea-bass in #305

Full Changelog: 3.2.0...3.2.1

3.2.0

This is a minor release that completes a 3.1.0 feature and makes a few other significant improvements and bug fixes.

Summary:

• Added ability to serialize worlds to YAML, allowing resetting worlds created programmatically in addition to from YAML files.
• Revamped logging framework to consistently use Python logging module if standalone and ROS logging if using ROS.
• Actions with simulated delays can now be canceled during the delay, whereas previously they would block the entire system.
• Poses in world YAML files can now be specified as structures instead of lists, including Euler angles vs. quaternions.

Old (still compatible):

pose: [1.0, 2.0, 0.0, 1.57]  # x, y, z, yaw

New:

pose:
  position:
    x: 1.0
    y: 2.0
  rotation_eul:
    yaw: 1.57

pose:
  position:
    x: 1.0
    y: 2.0
  rotation_quat:
    w: 0.7071
    x: 0.0
    y: 0.0
    z: -0.7071

---

What's Changed

• Run rosdep install in setup script by @sea-bass in #284
• Fix typo in actions documentation by @Kilidsch in #285
• Sample object poses in World.update_object by @sea-bass in #287
• Fix plan cancellation logic by @sea-bass in #288
• Run all robot actions in GUI in separate threads by @sea-bass in #290
• Improved logging by @sea-bass in #292
• Allow collisions between walls in rooms and hallways by @sea-bass in #294
• Allow specifying poses as YAML in world files by @sea-bass in #295
• Serialize worlds to YAML and allow resetting all worlds by @sea-bass in #296
• 3.2.0 by @sea-bass in #302

New Contributors

• @Kilidsch made their first contribution in #285

Full Changelog: 3.1.0...3.2.0

3.1.0

This is a minor release that addresses several bugs/robustness issues in 3.0.0.

It additionally adds a few new features, such as (limited) world resetting from the GUI, constantly draining battery during navigation, and looking up hallways with bidirectional names (e.g., hall_roomA_roomB and hall_roomB_roomA)

What's Changed

• Count paths with zero poses as path planning failures by @sea-bass in #251
• Allow opening and closing locations globally from GUI by @sea-bass in #254
• Remove graph nodes from locked-off hallways when searching for paths by @sea-bass in #253
• Include hallway state in world state ROS message by @sea-bass in #255
• Cleanly shutdown ROS interface node by @sea-bass in #256
• Include navigation path length in ROS message by @sea-bass in #257
• Consistently return execution status in GUI callbacks by @sea-bass in #258
• Add header to RobotState message by @sea-bass in #259
• Consistently update robot state in GUI after path following by @sea-bass in #260
• Count open, close, lock, and unlock trivial operations as success by @sea-bass in #261
• Fix collision checking with closed hallways by @sea-bass in #265
• Use get_location_from_pose function consistently and optimize it to check the previous location by @sea-bass in #264
• Allow looking up hallways by reversed name by @sea-bass in #266
• Allow multiple hallways connecting two rooms and check for duplicate names in world add methods by @sea-bass in #268
• Fix pyrobosim_ros docs build and move build script to docs folder by @sea-bass in #269
• Add world reset UI button by @sea-bass in #270
• Import matplotlib 3D tools in the bodies of grasp plotting functions by @sea-bass in #273
• Drain battery continuously while navigating by @sea-bass in #274
• Fix path following cancelation logic by @sea-bass in #275
• Add ROSCon 2024 workshop to usage examples by @sea-bass in #276
• Fix object spawn getters by @sea-bass in #279
• Enable interactive mode in GUI MatPlotLib canvas by @sea-bass in #280
• 3.1.0 by @sea-bass in #281

Full Changelog: 3.0.0...3.1.0

3.0.0

This is a major release containing several features for the ROSCon 2024 workshop: "Hands-on with ROS 2 Deliberation Technologies"

Major features include:

• Ability to open/close hallways and storage locations.
• Simulating local, per-robot, object observability and detection actions.
• Simulating action delays, success probability, and battery depletion/charging.
• Improvements to navigation, including path canceling, runtime collision detection, planner resets, and simplified code.
• All high-level actions and task plans can now be canceled and return execution status, in both the core API and ROS interface.
• Improved ROS interface with additional features, as well as integration tests and ability to build the entire repo with colcon.

---

What's Changed

• Update GitHub actions and pre-commit by @sea-bass in #178
• Pin NumPy below 2.0.0 by @sea-bass in #179
• Unpin NumPy and do not upgrade pip in scripts and CI by @sea-bass in #180
• Improve setup script experience by @sea-bass in #183
• Add partial observability to robots by @sea-bass in #187
• Allow path planning failures to fail navigate actions by @sea-bass in #190
• Small fix to nav failure state tracking by @sea-bass in #192
• Cleanup navigation display and execution in GUI by @sea-bass in #193
• Fix GUI threading errors when clicking Navigate button by @sea-bass in #195
• Flesh out tests for RRT and PRM planner by @sea-bass in #196
• Add hallway open and close capabilities by @sea-bass in #198
• Fix yaw setting in location nav poses by @sea-bass in #201
• Unify navigation code and automatically extract robot location by @sea-bass in #202
• Simulate delays and failures when executing actions by @sea-bass in #205
• Add reference to "Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation System" paper by Kashid and Kumat by @sea-bass in #210
• Add path execution validation and abort by @sea-bass in #211
• Allow canceling actions and plans by @sea-bass in #214
• Run colcon tests in CI by @sea-bass in #216
• Add execution status to actions and plans by @sea-bass in #217
• Add ROS service to set location state by @sea-bass in #218
• Go through docs after latest changes by @sea-bass in #219
• Add test coverage to plan printing by @sea-bass in #220
• Extend Open/Close actions to storage locations by @sea-bass in #221
• Use signals and slots in GUI display methods by @sea-bass in #222
• Show path in GUI when the path is given beforehand + unify query to entity support in GUI vs. non-GUI actions by @sea-bass in #223
• Fix ROS 2 action abort paths by @sea-bass in #225
• Fix action status tracking by @sea-bass in #226
• Add ROS interface integration tests by @sea-bass in #227
• Handle path planning failures correctly in action interface by @sea-bass in #232
• Support getting local robot observations in world state ROS service by @sea-bass in #233
• Move action execution options to the robot definition by @sea-bass in #234
• Simulate robot battery usage and charging by @sea-bass in #235
• Enable Open, Close, and Detect actions in PDDL capabilities by @sea-bass in #237
• Require PySide6 6.4.0 or greater by @sea-bass in #238
• Add specialized ROS action servers for path planning and following by @sea-bass in #239
• Add specialized ROS action for object detection by @sea-bass in #240
• Add UI button to toggle collision polygon display (issue #200) by @muhidabid in #242
• Allow pyrobosim to be built and tested with colcon by @sea-bass in #246
• Make CI work from forks by @sea-bass in #245
• Simplify path planner API and allow planner resets by @sea-bass in #241
• Gracefully exit navigation action when target location is not specified by @sea-bass in #248
• Implemented Cancel Actions UI button (#215) by @muhidabid in #247
• Add Reset Path Planner UI button by @sea-bass in #249
• 3.0.0 by @sea-bass in #250

New Contributors

• @muhidabid made their first contribution in #242

Full Changelog: 2.0.0...3.0.0

2.0.0

What's Changed

This is a major release with breaking changes for both users and internal developers.

User-Facing Changes

• Update documentation to reflect correct base PathPlanner class by @akshayprsd in #155
• Do not require PDDLStream for tests, switch to main repo by @sea-bass in #163
• Add Trajectory class by @sea-bass in #164
• Fix pip install in Ubuntu 24.04 Dockerfile by @sea-bass in #170
• Support ROS 2 Jazzy / Ubuntu 24.04 by @sea-bass in #169
• Switch to PySide6 by @sea-bass in #171
• Use ROS actions to execute actions and task plans by @sea-bass in #173
• Fix ros_interface.py constructor docstring and clean up scripts by @sea-bass in #174
• 2.0.0 by @sea-bass in #175

Internal Developer Changes

• Add PR write permissions to tests CI job by @sea-bass in #156
• Set init for compose services by @eholum in #157
• Skip coverage comment for PRs from forks by @eholum in #158
• Fix tests and cache containers for CI by @eholum in #160
• Containerize the non-ros testing pipeline by @eholum in #161
• Pin pytest below 8.1.0 and fix warnings when creating entities with invalid categories by @sea-bass in #162
• Set package version in Sphinx configuration by @sea-bass in #165
• Update pre-commit hooks and apply changes by @sea-bass in #167
• Add coverage badge to README by @sea-bass in #168

New Contributors

• @akshayprsd made their first contribution in #155
• @eholum made their first contribution in #157

Full Changelog: 1.2.0...2.0.0

1.2.0

What's Changed

• Fix coverage base folder by @sea-bass in #147
• Show coverage in PRs + fix ReadTheDocs build by @sea-bass in #150
• Simulate simple 2D robot dynamics by @sea-bass in #151
• Add robot velocity command ROS subscribers by @sea-bass in #152
• 1.2.0 by @sea-bass in #153

Full Changelog: 1.1.0...1.2.0

1.1.0

What's Changed

• Adds Pose equivalency functions by @JoshuaFutcher in #130
• Add Robot class tests by @sea-bass in #128
• World knowledge tests by @henrygerardmoore in #126
• Add coverage collection to tests by @sea-bass in #131
• Add Pose unit tests by @sea-bass in #132
• Unit tests for path and trajectory utilities by @sea-bass in #134
• Unit tests for occupancy grid utilities by @sea-bass in #136
• Add unit tests for search graph by @sea-bass in #137
• Add more coverage to World class tests by @sea-bass in #138
• Add unit tests for TaskPlan and TaskAction objects by @sea-bass in #139
• Add unit tests for polygon utilities by @sea-bass in #140
• Add unit tests for world YAML loading utilities by @sea-bass in #141
• Add Gazebo export unit tests and remove Ignition mentions by @sea-bass in #143
• Handle missing parent and invalid categories when adding locations and objects by @sea-bass in #144
• Split out CI jobs by @sea-bass in #145
• Version 1.1.0 by @sea-bass in #146

New Contributors

• @JoshuaFutcher made their first contribution in #130
• @henrygerardmoore made their first contribution in #126

Full Changelog: 1.0.0...1.1.0

1.0.0

What's Changed

Initial pyrobosim release.

Full Changelog: https://github.com/sea-bass/pyrobosim/commits/1.0.0