New Features / Improvements
===========================
- Add LinkLayerFeedback node that can batch CST (packet receive) and SST (noise) stats and transmit them to allow for feedback control. (!111)
  - Add `LinkStatsFeedback` message
  - Add unit test to CI
- Publish SST messages from modem sim (!111)
- Publish CST messages separate from `ReceivedPacket` messages in modem sim for received packets (!111)
- Improved CST parameter simulation (!111)
- Added documentation to `SST` message fields. (!111)
- Improved documentation of `CST` message fields. (!111)
- Add `packet_rx_topic` parameter to `modem_sim_node` to specify an alternate topic for `ReceivedPacket` messages. (!112)

New Features / Improvements
===========================
- Added a field to the `QueueParams` class that includes the full parameter dictionary from the codec yaml file.  This allows other programs (like `ros_acomms_net`) to add arbitrary entries to the queue config dictionary.
- Add support for publishing battery state from modem `CCBAT` queries

Bugfixes
========
- Fix exception handling when setting fields on ROS messages inside `ros_packet_codec.py`

Bugfixes
--------
- Fixed warning message when node_status package isn't available.  It previously printed the warning when the package was available. (ae68e564)
- Fixed an off-by-one bug in the ROS packet codec that caused issues when sending packets that were exactly full. (6af054b8)
- The dynamic queue query call could return invalid cached results, because the query parameters weren't checked against the cached result. This is fixed. (!85)

Breaking changes
----------------
- Moved the `clock_generator` node from `ros_acomms_tests` to `ros_acomms_modeling` (!62)
- Removed `GetPlatformLocation` service and associated functionality from modem simulator node.
- Removed `platform_location_node.py` (!66)
- Added `whoi-uwapm` dependency (which incorporates `bellhopcxx`) (#34)
- Update minimum `acomms` (`pyacomms`) version to 2.4 to support modem nav messages in a future release (#35)
- Require `rospy_yaml_include` (removed dependence on `pyyaml_include`) (!73)

New Features
------------
- The modem simulator can now accept location via any message that includes `latitude`, `longitude`, and `depth` fields. (!66)
- Added message-based modem location sim that publishes a random position at specified intervals. (!66)
- Use `bellhopcxx` rather than `bellhop` for ray tracing. (#34, !72)
- Cleaned up some log messages, improved output, and removed fixed loglevel for `message_queue_node` (!67)
- Made modem transmit loop run at 5Hz instead of 1Hz (!68)
- Added dedicated travel time simulation to avoid unnecessary calls to bellhop (!71)
  - Adds `SimTravelTime` service on the `SimTransmissionLossNode` along with a geometric travel time simulator.  Uses geometric simulator by default to speed up simulation.
- Removed dependency on acoustic toolbox / bellhop (#34)
  - Removed `setup.bash` (which was used to install the acoustic toolbox and build bellhop)
  - Removed runtime check for `bellhop.exe`
- Removed dependencies: `arlpy`, 'scipy', and `pandas` (#34)
- Remove dependency version pinning for `numpy` and `geopy` (#34)
- Updated installation instructions (#34)
- Allow setting fields on nested messages with `set_fields` in `ros_packet_codec` (!81)
- Add packet codec plugins (!79):
  - Added the ability to load custom packet codecs. The paths to search are specified by the `custom_packet_codec_paths` rosparam (in the namespace of the packet dispatch/message queue nodes).  Custom packets codec files must end with `_packet_codec.py` and contain a class called `PacketCodec` that inherits from `BasePacketCodec` (or a derived class).
- Via `rospy_yaml_include`, support rosparam and environment variable substitutions and include paths in codec config files. (!73)
- Improved CI:
  - Updated CI to add parameters to control simulation speed (!62)
  - Updated CI to upgrade python packages when installing from `requirements.txt` (!62)
  - Added unit tests for dynamic queues (!65)
  - Added multistage pipeline trigger: downstream pipeline for `ros_acomms_net` and `ros_acomms_net_tools` (!69)

Bugfixes
--------
- Repaired CI (to accommodate external changes) (!64)
- Fixed a path in `.gitignore`

Backported features:  Allow setting fields on nested messages with set_fields in ros_packet_codec

Breaking changes
----------------
- Most non-simulation-related messages have been moved to the new `ros_acomms_msgs` package (!50)
- Removed the following and moved them to the `ros_acomms_uuv` project (!50):
  - `legacy_translator_node.py`
  - `ssp_node.py`
  - `xducer_safety_power_control.py`
- Removed messages that had already been moved to the `ros_iridium` package (and should have been removed at that time) (!50):
  - `IridiumPacket.msg`
- Removed `sourcePublisher` topic on `acomms_driver_node` and removed `Source.msg` message (!50)
- Moved example launch files to new `ros_acomms_examples` package (!50)
- Moved simulation components into new `ros_acomms_modeling` project (!50):
  - `modem_sim_node.py`
  - Messages: `Tick`, `Tock`, `SimPacket`, `Location` (see also !60)
- Moved test code to new `ros_acomms_tests` package (!50)
- `ltcodecs` v1.0.0 or higher is required (!59)
- Removed `TxInhibit` and `WriteNmeaString` services (which were previously marked as deprecated) (!51)

New Features
------------
- Improved message queue performance and reliability (!55)
- Improved queue status message (!52)
- Source code cleanup (!50)
- Added a bunch of stuff to `.gitignore` (!50)
- Support `catkin build` (!54)
- Added handling for message encoding exceptions (!59)
- Added faster-than-realtime simulation capability for CI (!58)
- Improved CI (!56)

Bugfixes
--------
- Added missing requirements to `requirements.txt`: `crccheck`, `bitstring`, `msgpack` (!50)
- Fixed pinned versions for packages in `requirements.txt` so `arlpy` works (!53)
- Fixed some bugs in modem sim location handling (!60)
- Fixed race condition in modem sim due to `acoustic_channel` subscriber being initialized too early. (!60)
- Fixed several codec config parsing bugs (!57)
- Correctly handle codec defaults for destination and priority (#33)

Deprecation
-----------
- Marked `packet_codecs` rosparam as deprecated (!57).  It will be removed in a future release.  (This used the rosparam loader to load codec files  This doesn't handle includes, and it has all sorts of weird bugs, like not being able to handle uint64 literals due to a bug in the xml parser library used by roslaunch.)

This is the ros_acomms submodule currently on nugget. There were a few additons not in source control that have been added and included in this tag. This is a working snapshot of the ros_acomms submodule on nugget (IGBL).

### Bugfixes:
- Changed optional `ros_groundtruth` import in `modem_sim_node` to `groudtruth` because external package name changed.

### New Features:
- Rate and frame size settings in the TdmaMacNode are not handled using getters/setters.
- Added `TdmaTestMacNode` (`tdma_test_mac_node.py)`: inherits from TdmaMacNode and adds the ability to cycle settings for miniframe and dataframe rates and sizes as well as packet duration. Packet duration is user-specified, with reasonable defaults based on 5kHz bandwidth FDP packets.  It publishes a new status message (`TdmaTestMacStatus`) that includes information on the rates and sizes being used, along with packet duration.

### Bugfixes:
- Miniframe rate setting is now respected in TDMA MAC nodes
- Invalid user settings for `bytes_per_[data|mini]frame` are now clamped to the maximum value, and a warning is logged.