Changelog for package easynav_system

0.5.0 (2026-10-08)

• Lifecycle state transitions and runtime reconfiguration
• Pause and resume of the navigation
• Robot limits, velocity smoother and velocity multiplexer
• Recovery framework integration
• Robot geometry centralized (system_node.robot_geometry.*)
• Safety module: safety mode with configuration checks, parameter freezing and configuration fingerprint; heartbeat and real-time cycle monitoring; safety channel status; data age checks; fault injection
• Component frequencies are checked on configure (none may exceed the system cycle that runs it); a late real-time cycle is a WARN outside safety mode
• Custom SIGTERM handler
• Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
• Conda packages with pixi (pixi-build-ros)
• Contributors: Esther Aguado González, Francisco Martín Rico

0.4.2 (2026-07-26)

• Limit GoalManager publication freq
• New parameters for system node -> freq and rt_freq
• Perception types and ops to easynav_sensors
• GPLv3 -> Apache 2.0
• Improve navstate print including the time
• Add a bas_footprint frame in TFInfo
• Hotfix: Remove remaining C++20/23 features
• TFInfo in RTTFBuffer
• Add world frame
• Tests and refactoring
• remove unnecessary info in the nav_state
• TF Refactor
• Goal tolerances to the nav_state
• Remove unused include and random
• Set collision checker disabled by default
• Cleanup unused headers
• Remove unused headers
• Change spin_some to spin_all. Add param for max spin time
• Dedicated thread for TF updates
• Fix TF compilation warnings
• GoalManager: Split position tolerance into x/y and height
• Remove use_sim_time param from tf node left in #59
• Contributors: Francisco Martín Rico, Francisco Miguel Moreno, jagutic

0.1.4 (2025-10-16)

• Fix compilation errors in jazzy
• Merge kilted version bump into rolling
• Merge kilted into rolling. Update version to 0.1.3
• Contributors: Francisco Miguel Moreno

0.1.3 (2025-10-12)

• New Constructor for PointPerceptionsView with only one perception
• Fix tf2_ros deprecation warnings and remove warnings from unused parameters
• Remove unused variables and unused-parameter warnings
• Fix tf2_ros deprecation warnings
• Contributors: Francisco Miguel Moreno Olivo, Francisco Martín Rico

0.1.2 (2025-09-26)

• Reformating package.xml
• Update authors and mantainers
• Added GoalManagerInfo publishing. Navigation Control in TUI completed
• Trigger planner if new goals appear
• Select of use stamped cmd_vel
• Use tf_prefix instead of tf_namespace
• Multi-robot support by namespacing TFs
• Avoid publish cmd_vel if not set
• Add option to disable RT
• Run RT Thread in normal priority if no permissions
• Simplify blackboard with two operations
• Use ptrs for blackboard
• Refactor complete
• Blackboard redesign with NavState
• Blackboard for NavState
• Blackboard working
• Improving concurrency with atomic actions
• Fix CMake targets. Update package dependencies
• Install binaries in correct place
• Stop at idle once
• Change frequency to something reasonable
• Management of reaching goals
• Add doxygen
• Add yaets for tracing
• Check goal manager state
• Fix frame id when sending goal via topic
• Added cmd_vel
• Goal Manager first version finished
• NavigationControl interface and GoalManager
• Initial skeleton for GoalManager
• RTTFBuffer. Dictionary maps.
• WIP task synchronizations

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