Pyrobosim

What's Changed
* Remove ROS 2 Iron support by sea-bass in https://github.com/sea-bass/pyrobosim/pull/303
* Fix bugs in pose setting for locations by sea-bass in https://github.com/sea-bass/pyrobosim/pull/304
* 3.2.1 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/305


**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/3.2.0...3.2.1

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


New:
yaml
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 https://github.com/sea-bass/pyrobosim/pull/284
* Fix typo in actions documentation by Kilidsch in https://github.com/sea-bass/pyrobosim/pull/285
* Sample object poses in `World.update_object` by sea-bass in https://github.com/sea-bass/pyrobosim/pull/287
* Fix plan cancellation logic by sea-bass in https://github.com/sea-bass/pyrobosim/pull/288
* Run all robot actions in GUI in separate threads by sea-bass in https://github.com/sea-bass/pyrobosim/pull/290
* Improved logging by sea-bass in https://github.com/sea-bass/pyrobosim/pull/292
* Allow collisions between walls in rooms and hallways by sea-bass in https://github.com/sea-bass/pyrobosim/pull/294
* Allow specifying poses as YAML in world files by sea-bass in https://github.com/sea-bass/pyrobosim/pull/295
* Serialize worlds to YAML and allow resetting all worlds by sea-bass in https://github.com/sea-bass/pyrobosim/pull/296
* 3.2.0 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/302

New Contributors
* Kilidsch made their first contribution in https://github.com/sea-bass/pyrobosim/pull/285

**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/3.1.0...3.2.0

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


**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/3.0.0...3.1.0

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

New Contributors
* muhidabid made their first contribution in https://github.com/sea-bass/pyrobosim/pull/242

**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/2.0.0...3.0.0

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 https://github.com/sea-bass/pyrobosim/pull/155
* Do not require PDDLStream for tests, switch to main repo by sea-bass in https://github.com/sea-bass/pyrobosim/pull/163
* Add Trajectory class by sea-bass in https://github.com/sea-bass/pyrobosim/pull/164
* Fix pip install in Ubuntu 24.04 Dockerfile by sea-bass in https://github.com/sea-bass/pyrobosim/pull/170
* Support ROS 2 Jazzy / Ubuntu 24.04 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/169
* Switch to PySide6 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/171
* Use ROS actions to execute actions and task plans by sea-bass in https://github.com/sea-bass/pyrobosim/pull/173
* Fix ros_interface.py constructor docstring and clean up scripts by sea-bass in https://github.com/sea-bass/pyrobosim/pull/174
* 2.0.0 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/175

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

New Contributors
* akshayprsd made their first contribution in https://github.com/sea-bass/pyrobosim/pull/155
* eholum made their first contribution in https://github.com/sea-bass/pyrobosim/pull/157

**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/1.2.0...2.0.0

What's Changed
* Fix coverage base folder by sea-bass in https://github.com/sea-bass/pyrobosim/pull/147
* Show coverage in PRs + fix ReadTheDocs build by sea-bass in https://github.com/sea-bass/pyrobosim/pull/150
* Simulate simple 2D robot dynamics by sea-bass in https://github.com/sea-bass/pyrobosim/pull/151
* Add robot velocity command ROS subscribers by sea-bass in https://github.com/sea-bass/pyrobosim/pull/152
* 1.2.0 by sea-bass in https://github.com/sea-bass/pyrobosim/pull/153


**Full Changelog**: https://github.com/sea-bass/pyrobosim/compare/1.1.0...1.2.0