Changelog for package yasmin_factory

5.0.0 (2026-01-14)

• Creating viewer pub variable for C++ factory node

• refactor: update package share path retrieval for compatibility with rclcpp version checks

• refactor: replace get_package_share_path with get_package_share_directory for compatibility

• refactor: update includes to support conditional package share path retrieval

• refactor: reorganize include directives and refine code structure across packages Reorganize include statements by grouping system and third-party headers at the top with angle brackets, relocate project headers appropriately, and eliminate redundant or unused includes. Additionally, streamline source files by repositioning self-include statements, adjust comment formatting, correct minor typos, and remove superfluous whitespace or blank lines for improved readability and consistency without altering functionality.

• build(yasmin_factory): incorporate ament_index_cpp dependency and eliminate redundant include Introduce ament_index_cpp as a required package in CMakeLists.txt, link it to the target, and export it as a dependency. Concurrently remove the unused include from yasmin_factory_node.cpp to clean up the codebase.

• feat(discovery): add env, package.xml and XML-file ignore rules with cache invalidation (#97) Co-authored-by: Maik Knof <<knofm@hs-weingarten.de>>

• feat(yasmin_pcl): add PCL compatibility header for versions prior to 1.12 Add pcl_compat.hpp to provide type aliases for pcl::Indices and related types in PCL versions older than 1.12. Update includes in cloud_types.hpp and filter_state_utils.hpp to use the new header. Refactor CMakeLists.txt to use direct linking for dependencies. Add new test files and fix use-after-free in factory cleanup test.

• Add ament_index_cpp dependency and update state creation in yasmin_factory

• Adding state metadata (#95)

  * feat(state): add metadata support with default value injection for blackboard keys Add StateMetadata and BlackboardKeyInfo structures to enable states to declare input and output keys with optional default values. When a state is executed, default values are automatically injected into the blackboard for any missing input keys that have defaults defined. This allows states to declare their dependencies and provide sensible defaults without requiring the blackboard to be pre-populated. Includes Python bindings and comprehensive unit tests.

  * feat: add metadata and defaults support to editor and factory Add description and default value support to the state machine editor GUI and factory. This includes:

  • New DefaultsDialog for editing default blackboard values in the editor
  • Updated dialogs to support description and defaults for states and state machines
  • XML parsing and serialization for description attribute and Default elements
  • Plugin info now exposes description and input/output keys from states
  • Python bindings simplified to support arbitrary types for default values
  • External metadata storage preserves ABI compatibility with existing plugins

  * feat: add default value injection for Python blackboard keys Enables storing Python objects as default values for blackboard keys by using shared_ptr to maintain object lifetime, with a lambda that properly injects the default value using GIL acquisition when the key is accessed.

  • State metadata demos (#77)
  • add state metadata across all python demo files

  * add description-aware constructors to BlackboardKeyInfo Throws an segfault currently.

  • add state metadata to all cpp demos
  • guard unsupported metadata default conversion in pybind
  • add cli tool for inspecting states
  • use keyword description in python demos to avoid pybind overload ambiguity

  * remove defaults for output_keys in python demos output_keys shouldn't have default values

  • only print keys if they exist
  • disambiguate string default metadata in state tests
  • make cpp_formatter happy

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