Added lyrical release entries for async node and ament_python_install_package (backport #6520)

source/Releases/Release-Lyrical-Luth.rst

@@ -121,6 +121,16 @@ TODO
 New features in this ROS 2 release
 ----------------------------------
 
+``ament_cmake``
+^^^^^^^^^^^^^^^
+
+Allow multiple ``ament_python_install_package()`` calls per package
+"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+This enables shipping a single package with both python code and generated interfaces (from ``rosidl_generate_interfaces()``).
+Source directories from each call are merged at install time, with the last call winning on file conflicts.
+
+See https://github.com/ament/ament_cmake/pull/587 for more details.
+
 ``class_loader``
 ^^^^^^^^^^^^^^^^
 
@@ -167,7 +177,140 @@ Builds on the experimental ``EventsExecutor`` by adding support for multiple sou
 Compared to the Single and Multithreaded Executors, the ``EventsCBGExecutor`` exhibits around 10 to 15% less CPU usage.
 Note: The experimental ``EventsExecutor`` is now deprecated. For similar performance, use the ``EventsCBGExecutor`` with one thread.
 
+<<<<<<< HEAD
 `Unified component container interface <https://github.com/ros2/rclcpp/pull/3134>`__ - ``component_container`` is now the single entrypoint for launching both regular and isolated component containers with all types of executors.
+=======
+* Added new `Callback Group Events Executor <https://github.com/ros2/rclcpp/pull/3097>`__.
+  Like its predecessor the experimental ``EventsExecutor``, the ``EventsCBGExecutor`` uses
+  an events queue to process ready entities.
+  Builds on the experimental ``EventsExecutor`` by adding support for multiple sources of
+  ROS time and multiple threads.
+  Compared to the Single and Multithreaded Executors, the ``EventsCBGExecutor`` exhibits
+  around 10 to 15% less CPU usage.
+  Note: The experimental ``EventsExecutor`` is now deprecated. For similar performance, use
+  the ``EventsCBGExecutor`` with one thread.
+
+* `Unified component container interface <https://github.com/ros2/rclcpp/pull/3134>`__ -
+  ``component_container`` is now the single entrypoint for launching both regular and
+  isolated component containers with all types of executors.
+
+* Added ``disable_callbacks()`` and ``enable_callbacks()`` APIs to ``SubscriptionBase``.
+  By design the subscription itself is a shared pointer and its callbacks are propagated to
+  the executor, making it difficult to manage subscription lifecycle from the application
+  side.
+  When a subscription is deleted at the application layer, it may still be referenced by
+  the node and executor, causing callbacks to be invoked unexpectedly.
+  This can lead to undefined behavior when the callback accesses resources that have been
+  cleaned up.
+  The new APIs allow users to disable subscription callbacks at runtime without destroying
+  the subscription, preventing unexpected callback invocations.
+
+  See `ros2/rclcpp#2984 <https://github.com/ros2/rclcpp/issues/2984>`__ and
+  `ros2/rclcpp#2985 <https://github.com/ros2/rclcpp/pull/2985>`__ for more details.
+
+``rclpy``
+^^^^^^^^^
+
+Native asyncio support with ``AsyncNode`` (experimental)
+""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+
+Added ``AsyncNode``, a new node type that runs on the ``asyncio`` event loop.
+Subscription, service, and timer callbacks can now ``await`` any asyncio operation.
+The new async ``client.call(request)`` and sim-time aware ``clock.sleep(...)`` are awaitable from any asyncio task.
+CPU usage is significantly reduced compared to the ``SingleThreadedExecutor``.
+
+See the :doc:`Writing an async node with asyncio <../Tutorials/Intermediate/Writing-An-Async-Node-With-Asyncio-Python>` tutorial and https://github.com/ros2/rclpy/pull/1620 for more details.
+
+``rosbag2``
+^^^^^^^^^^^
+
+``Rosbag2`` received several new recording, playback, observability, and API improvements.
+
+* Added support for repeating transient-local messages when recording bags.
+  Users can configure selected transient-local topics with ``--repeat-transient-local`` and
+  an optional per-topic depth, or use ``--repeat-all-transient-local`` to automatically apply
+  the behavior to topics whose publishers offer ``TRANSIENT_LOCAL`` durability QoS.
+  This helps preserve latched/static state, such as maps or static transforms, across bag
+  splits and snapshots.
+
+  See `ros2/rosbag2#2385 <https://github.com/ros2/rosbag2/pull/2385>`__,
+  `ros2/rosbag2#2386 <https://github.com/ros2/rosbag2/pull/2386>`__,
+  `ros2/rosbag2#2387 <https://github.com/ros2/rosbag2/pull/2387>`__, and
+  `ros2/rosbag2#2391 <https://github.com/ros2/rosbag2/pull/2391>`__ for more details.
+
+* Added recorder service APIs for starting and stopping recording, starting and stopping topic
+  discovery, and querying whether discovery is running.
+  This makes it possible to control a recorder process remotely through ROS services instead
+  of only through the command-line process lifecycle.
+
+  See `ros2/rosbag2#2248 <https://github.com/ros2/rosbag2/pull/2248>`__ for more details.
+
+* Added scheduled service operations for coordinated recording and playback workflows.
+  Record, play, resume, and split operations can now be scheduled by time, with support for
+  node time, publish time, and receive time modes where applicable.
+  Service responses were also extended with explicit return codes and error strings.
+
+  See `ros2/rosbag2#2330 <https://github.com/ros2/rosbag2/pull/2330>`__ and
+  `ros2/rosbag2#2357 <https://github.com/ros2/rosbag2/pull/2357>`__ for more details.
+
+* Added circular logging by split count.
+  When recording with bag splitting enabled, ``--max-bag-files`` limits the maximum number of
+  bag files stored on disk by automatically deleting the oldest split files as new ones are
+  created.
+
+  See `ros2/rosbag2#2218 <https://github.com/ros2/rosbag2/pull/2218>`__ for more details.
+
+* Added a time-bounded snapshot cache option, ``--max-cache-duration``.
+  This allows snapshot-mode recording to bound the cached data by duration in addition to
+  existing cache controls.
+
+  See `ros2/rosbag2#2289 <https://github.com/ros2/rosbag2/pull/2289>`__ for more details.
+
+* Added message-loss observability during recording.
+  ``Rosbag2`` can now collect message-loss statistics from the transport layer and recorder
+  internals, and publish incremental per-topic loss events on the predefined
+  ``events/rosbag2_messages_lost`` topic.
+  The publishing rate can be configured with ``--stats_max_publishing_rate``.
+
+  See `ros2/rosbag2#2039 <https://github.com/ros2/rosbag2/pull/2039>`__,
+  `ros2/rosbag2#2144 <https://github.com/ros2/rosbag2/pull/2144>`__, and
+  `ros2/rosbag2#2150 <https://github.com/ros2/rosbag2/pull/2150>`__ for more details.
+
+* Expanded the ``rosbag2_py`` player and recorder APIs.
+  Python users can now programmatically control playback and recording with APIs such as
+  pause, resume, stop, seek, play-next, spin control, and wait helpers, instead of relying
+  only on blocking command-line-style helpers.
+
+  See `ros2/rosbag2#2047 <https://github.com/ros2/rosbag2/pull/2047>`__ and
+  `ros2/rosbag2#2062 <https://github.com/ros2/rosbag2/pull/2062>`__ for more details.
+
+* Added APIs for querying player timing metadata.
+  Users can now query the player's starting time and playback duration, and Python readers
+  can access the send timestamp when reading serialized messages.
+
+  See `ros2/rosbag2#2061 <https://github.com/ros2/rosbag2/pull/2061>`__ and
+  `ros2/rosbag2#2095 <https://github.com/ros2/rosbag2/pull/2095>`__ for more details.
+
+* Improved message definition resolution for recorded data.
+  ``Rosbag2`` can now find message definitions in nested subdirectories, better resolve inner
+  message definitions for service and action introspection data, and support relative includes
+  in local IDL message definitions.
+
+  See `ros2/rosbag2#2041 <https://github.com/ros2/rosbag2/pull/2041>`__,
+  `ros2/rosbag2#2052 <https://github.com/ros2/rosbag2/pull/2052>`__,
+  `ros2/rosbag2#2055 <https://github.com/ros2/rosbag2/pull/2055>`__, and
+  `ros2/rosbag2#2241 <https://github.com/ros2/rosbag2/pull/2241>`__ for more details.
+
+* Updated split bag file naming to include the split index, bag name, and timestamp, making
+  split files easier to identify and sort.
+
+  See `ros2/rosbag2#2265 <https://github.com/ros2/rosbag2/pull/2265>`__ for more details.
+
+* Enabled the ``rosbag2_performance_benchmarking`` package to be built by default, making the
+  benchmarking tools easier to use for recorder and player performance evaluation.
+
+  See `ros2/rosbag2#2093 <https://github.com/ros2/rosbag2/pull/2093>`__ for more details.
+>>>>>>> 57ee23f (Added release notes for async node and ament_python_install_package (#6520))
 
 ``rosbag2``
 ^^^^^^^^^^^