0.2.2 (Forthcoming)

0.2.1

cl_transforms:
- Bug fix in MATRIX->QUATERNION.
- Bug fix in GET-YAW: take into account rotation axis.
- Bug fix in NORMALIZE-ANGLE.
- Extended COPY-POSE, COPY-TRANSFORM, COPY-3D-VECTOR and COPY-QUATERNION to overwrite slots in the copy.
cl_tf:
- Added support for ~tf_prefix parameter.
- Added utility method POSE->POSE-STAMPED.
- Added timeout to WAIT-FOR-TRANSFORM.
- Removed time parameter from TRANSFORM-POSE and TRANSFORM-POINT

actionlib_lisp:
- Added SEND-GOAL-AND-WAIT method to improve consistency with C++ and Python versions.
- Bugfix: Handling of no timeout was broken in WAIT-FOR-RESULT.
- Added state transition callback to SEND-GOAL.
- Added RESULT-TIMEOUT parameter to CALL-GOAL.
cl_tf:
- Added MSG->POSE function
- Improved pretty-printers to also print frame-id and time stamp
- Check for validity of frame id and throw a TF-LOOKUP-ERROR instead of TF-CONNECTIVITY-ERROR
- Improved handling of non-qualified frame ids
cl_transforms
- Improved pretty-printers
- Utility functions to create identity poses and transforms
- Default data type is DOUBLE-FLOAT now. Automatically coerce numbers to it.

actionlib_lisp:
- Fixed a problem with WITH-TIMEOUT in combination with deadlines
- Fixed tickets <<Ticket(ros-pkg 4805)>>, <<Ticket(ros-pkg 4806)>>
- Fixed a bug with usage of WITH-FILEDS: wrong symbols where used

cl_transforms:
- Added convenience functions
- Fixed a bug that resulted in complex angles returned by quaternion->axis-angle
cl_tf: Added functions to convert from and to geometry_msgs/PoseStamped messages

Moved package actionlib_lisp_examples into a separate stack to fix stack dependencies