Tags

v17.0.0

Breaking Changes
================
- Requires armw v2.0. Changes were made simultaneously to both projects to improve stability and fix a number of concurrency related bugs. (!194)
- The median_noise_dB field in the LinkStatsFeedbackMessage has been changed to median_noise_db due to ROS2 not supporting the original name. (!194)

New Features / Improvements
===========================
- Updated clock generator to use tick/tock, this significantly speeds up simulation (sometimes it is almost too fast). Added a registration service so that the modem sim can register / unregister with the clock. Clock increments after rendezvous from every connected modem sim.  (!194)
- Switched from loop_once back to spin called in thread. (!194)
- Added health monitor. Uses diagnostic messages to monitor status of ROS nodes. (!197)

Bugfixes
========
- Replacing headers with armw fill time (!194)
- Publishers / Services using None (rclpy will not autofill None) (!194)
- Concurrency bugs (such as those related to using loop_once) (!194)
- Fix slot/cycle counters for TDMA MACs (!193)
- Health monitor improves integration test stability (!197)

Test Improvements
=================
- Updated unit tests to work with ROS2 (!194)
- Improved test stability by removing helper classes wherever possible, also made use of futures where needed. (!194)
- Skipped some tests that often result in failures due to race conditions (!194)
- Updated gitlab CI yml to use parallel matrix for ROS 1 & 2 testing, also swapped to using a local registry to share images between multiple CI machines (!194)
- Moved location of docker images to docker directory at root of project to keep all dockerfiles together (!194)
- Added new dockerfile for ROS2 (!194)
- Fixed trigger pipelines in gitlab ci, trigger pipelines get branch of triggerer. (!196)

v16.0.0

Breaking Changes
================
- `LinkStatsFeeback` message: added `receiver_src` field, fixed name of `median_noise_dB` field (!184)
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (!184)

New Features / Improvements
===========================
- Added `LinkStatsSummary` message to publish aggregated `LinkStatsFeedback` (!184)

Bugfixes
========
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (it was saturating in January 2025) (!184)
- Fixed regression in name of `LinkStatsFeeback` `median_noise_dB` field (it briefly had a lowercase "b") (!184)
- Fixed calculation of ping OWTT in modem simulator (!188, !186)
- Fixed modem sim logging (!186)
- Fixed OWTT calculation for every sim packet (!190)

v16.0.0-rc3

v16.0.0-rc2

Bugfixes
========
- Fixed calculation of ping OWTT in modem simulator (!188)

v16.0.0-rc1

Bugfixes
========
- Fix simulated ping OWTT (!186)
- Fix modem sim logging (!186)

v16.0.0-rc0

Breaking Changes
================
- `LinkStatsFeeback` message: added `receiver_src` field, fixed name of `median_noise_dB` field (!184)
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (!184)

New Features / Improvements
===========================
- Added `LinkStatsSummary` message to publish aggregated `LinkStatsFeedback` (!184)

Bugfixes
========
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (it was saturating in January 2025) (!184)
- Fixed regression in name of `LinkStatsFeeback` `median_noise_dB` field (it briefly had a lowercase "b") (!184)

v15.0.0

v15.0.0-rc

v15.0.0-beta

v14.0.4

Includes important bug fix to `tdma_slotted_aloha` #52

v14.0.3

Bugfixes
========
- Fix handing of the dynamic queue cache when using packet codecs that break a packet into multiple sections.  Previously, a dynamic queue could be ignored due to invalid cache when the number of available bits increased over the course of a packet. (!171)

v14.0.2

Documentation Improvements
==========================
- Significant additions to documentation (!168)
- Improved documentation formatting (!168)
- Removed out-of-date information (!168)

v14.0.1

Bugfixes
========
- Fix a bug in the modem sim that would zero-pad bad frames when partial packets were received. (!165)

v14.0.0

Breaking Changes
================
- `GetNextQueuedMessageResponse` (part of `GetNextQueuedMessage.srv`) has a new field: `string[] msg_tags`. (!160)
- `PingModem.srv` and `PingTransponders.srv` timeout field is now that same: `timeout_sec` and logic has been updated across package (!158)
- `Tdma*Status.msg` has the following fields added to support QoS tags (!158):
  - `minimum_priority`: will be value set in tag for [this] slot
  - `time_to_next_dedicated_slot`: time to next un-tagged / un-restricted slot where you are guarenteed to TX if you have _any_ data.

New Features / Improvements
===========================
- `GetNextQueuedMessageResponse` new field: `string[] msg_tags`. (!160)
  - `string[] msg_tags` are the tags for the message returned in the response.
  - since dynamic_queues are not handled by the `message_queue_node` directly, we now use this field to validate responses, and invalid responses are ignored.
- added `deserialize_anymsg()` to `mac_utils.py` (!160)
- changed `toggle_software_mute()` in `tdma_advanced_node` to a switch of type `std_msgs/Bool` and updated logic in `mac_switcher. (!158)
- `tdma*` can now calculate `time_to_next_dedicated_slot` (!158)

Bugfixes
========
- `TagConfig` was not setting `self.exclude_queue_ids`. it was setting `set.exclude_list` (typo!) and no other nodes were using that attr.
- Fixes to message queue (!160):
  - dynamic queue response tag validation
  - was not setting `minimum_priority` when creating `tag_config` instance.
  - was not passing `minimum_priority` to dynamic_queue_query call.
- set software_mute correctly in `tdma_advanced` (!161, #46)

v14.0.0-rc0

v13.1.0

v13.0.0

v12.0.0

v11.1.0

New Features / Improvements
===========================
- `tdma_advanced_node` can now pass an empty list for `~comms_slots`. When empty, (`comms_slots=""`) this tells `tdma_advanced_node` not to send comms packets in _any_ slots. Useful for a ping only tdma MAC config

Bugfixes
========
- `acomms_driver_node`: changed minimum ping_reply_timeout from 5 seconds to 1.
- `modem_sim_node`: changed minimum ping_reply_timeout from 5 seconds to 1.
- `tdma_advanced_node` bug fix for empty `~comms_slots`.

v11.0.0

Breaking Changes
================
- Removed legacy link-layer fragmentation (!142)
  - This functionality is now provided by `ros_acomms_net`, or by using dynamic queues to implement a new transport layer
  - Removes `EncodedAck` and `FragmentationStatus` messages
  - Removes associated unit tests
  - Removes the `allow_fragmentation` parameter from message codecs

New Features / Improvements
===========================
- Add acoustic range features, including node that publishes acoustic range automatically for pings (with sim and hardware support) (!144)
  - New message `AcousticRange.msg`
  - New node `acoustic_range_node.py`: Generates a range for every ping reply (modem ping OR remus transponder ping) using OWTT and `~sound_speed`.  Publishes `AcousticRange.msg` on `~acoustic_range_topic` (`default=acoustic_range`).
- Logging improvements (!144)
  - Lowered the log verbosity for `tdma_advanced`
  - Added mechanism to `tdma_node` for caching the rosnode log level during init (then available to subclasses)
- New `mac_switcher` node to handle switching among multiple MAC nodes using software mute (!145, !146, !147)
  - New node `MacSwitcherNode`
  - New message `MacSwitcherStatus.msg`
  - Includes "dead man switch" to revert control to "default" MAC node (!146)
  - Example launch file: `ros_acomms/ros_acomms_tests/launch/test_mac_switcher.launch`.

Bugfixes
========
- `modem_sim_node.py`: modem location topic name now uses the rosparam `~modem_location_topic`. It was hard coded to `location`. (!144)