Migration from ROS 2 Humble to ROS 2 Jazzy

This document summarizes the key changes when migrating from ROS 2 Humble to ROS 2 Jazzy. For detailed, code-level guidance, refer to the relevant official migration guides in the ROS 2 documentation.

Bringup

MoveItConfigsBuilder Updates

  • Use .planning_pipelines() to explicitly specify planning_plugins, default_planning_pipeline, and load_all.

  • default_planning_pipeline is now mandatory — omitting it may result in runtime errors.

  • After .to_moveit_configs(), call .to_dict() to properly pass configuration to both MoveGroup and RViz nodes.

Dynamic YAML Configuration

  • Introduce a new launch argument dynamic_yaml to generate controller configuration YAML dynamically at runtime.

  • The system parses the robot_description to extract active/passive joint data and constructs controller YAML automatically.

  • If a specific controller YAML (e.g. dsr_controller2_<model>.yaml) is not found, it falls back to dsr_controller2.yaml.

Launch Flow Refactoring

  • Sequential node startup using OnProcessExit replaces previous parallel launch patterns.

  • Recommended launch sequence:

    set_config_node → ros2_control_node → joint_state_broadcaster → dsr_controller2 → dsr_moveit_controller → move_group + RViz2

  • set_config_node sets hardware parameters then triggers ros2_control_node.

  • joint_state_broadcaster now runs early to ensure /joint_states is available from the start.

Hardware Interface (dsr_hw_interface2)

New Hardware-Centric Architecture

  • Migration from ControllerInterface to SystemInterface under Jazzy.

  • Initialization steps (DRFL init, callback registration, parameter parsing) now reside in the hardware layer.

  • Full support for lifecycle hooks: on_init(), on_configure(), on_activate().

Callback Refactor

  • All monitoring callbacks (OnMonitoringState, OnMonitoringDataEx, OnDisconnected, OnLogAlarm) are now managed in the hardware layer.

  • These callbacks are registered in DRHWInterface::on_init() or on_activate() for consistency.

Flexible DOF Handling & Parameters

  • Robot metadata (model name, degrees of freedom, gripper type) are parsed from HardwareInfo.

  • Arrays such as joint_position_, joint_velocity_, and command_ are resized dynamically based on joint count.

Hardware Mapping

  • hw_mapping_ enables mapping between URDF/SRDF joint names and internal DRFL indices.

  • Facilitates clarity and support for multiple robot configurations.

Real-Time Control Enhancements

  • Use rt_host instead of host in DRCF versions ≥ 3.0.

  • Functions like set_rt_control_output() and start_rt_control() execute only in robot mode (not emulator).

Monitoring Upgrades

  • Replaced OnMonitoringDataCB with OnMonitoringDataExCB and OnMonitoringCtrlIOExCB.

  • Offers access to force/torque/position data in tool, world, and user frames — ideal for advanced compliance controls.

Additional Improvements

  • Real-time error monitoring added via /error topic using LogAlarm callback.

  • Emulator detection: automatic via loopback IP (127.0.0.1).

Xacro Fixes

  • Define pi expressions with xacro:property at the top:

    <xacro:property name="double_pi" value="${2.0 * pi}"/>
<xacro:property name="neg_double_pi" value="${-2.0 * pi}"/>
<xacro:property name="neg_pi" value="${-1.0 * pi}"/>

  • Jazzy’s ros2_control cannot parse raw {2*pi} expressions.

  • Always use ${...} syntax and define via xacro:property.

SRDF Fixes

  • Ensure <robot name="..."> matches the URDF name:

    <!-- Before -->
<robot name="dsr">

<!-- After -->
<robot name="m1013">

  • Jazzy requires exact match between URDF and SRDF robot names.

  • A mismatch will trigger an error:

    Semantic description is not specified for the same robot as the URDF

_planning.yaml Fixes (MoveIt2)

  • Replace planning_plugin (string) with planning_plugins (array of strings).

  • Separate adapters into request_adapters and response_adapters:

    planning_plugins:
  - ompl_interface/OMPLPlanner

request_adapters:
  - default_planning_request_adapters/ResolveConstraintFrames
  - default_planning_request_adapters/ValidateWorkspaceBounds
  - default_planning_request_adapters/CheckStartStateBounds
  - default_planning_request_adapters/CheckStartStateCollision

response_adapters:
  - default_planning_response_adapters/AddTimeOptimalParameterization
  - default_planning_response_adapters/ValidateSolution
  - default_planning_response_adapters/DisplayMotionPath

  • Lists must use a hyphen-prefixed format (- item) as string_array.

QoS Changes

  • Deprecated: rmw_qos_profile_*

  • Use rclcpp::QoS for all publishers and subscribers in C++:

    auto qos = rclcpp::QoS(10).best_effort();
node->create_subscription<MsgType>("topic", qos, callback);

  • Default QoS policy updates: - reliable → best_effort - transient_local → volatile

Summary of Official ros2_control Migration Highlights

According to the official ROS 2 Jazzy migration guides and release notes:

diff_drive_controller - cmd_vel must now use a stamped twist message. - Deprecated parameters: has_velocity_limits, has_acceleration_limits, has_jerk_limits — set limits to .NAN instead.

gripper_action_controller - Legacy controllers (effort_..., position_...) removed. Use parallel_gripper_action_controller/GripperActionController.

joint_trajectory_controller - Default allow_nonzero_velocity_at_trajectory_end is now false. - start_with_holding removed; always holds on activation. - Cancels goals on on_deactivate. - Discards empty trajectories. - Angle wraparound auto-detected from URDF continuous joints; remove angle_wraparound parameter.