4.1.2

David Conner · David Conner · commit 9f9aa6b9ab5b · 2026-05-07T22:43:02.000-04:00
diff --git a/flexbe_behavior_engine/CHANGELOG.rst b/flexbe_behavior_engine/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package flexbe_behavior_engine
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+
 4.1.1 (2026-03-25)
 ------------------
 * bump version to 4.1.0
diff --git a/flexbe_behavior_engine/package.xml b/flexbe_behavior_engine/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>flexbe_behavior_engine</name>
-  <version>4.1.1</version>
+  <version>4.1.2</version>
   <description>
     A meta-package to aggregate all the FlexBE packages
   </description>
diff --git a/flexbe_core/CHANGELOG.rst b/flexbe_core/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package flexbe_core
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Support nested behavior source paths in BehaviorLibrary for multi-package behavior hierarchies
+* Convert tuple/list behavior parameters to scalar automatically; warn on unhandled conversions
+* Replace runtime ``assert`` statements with ``StateError`` exceptions in core state containers
+* Rename ``make_persistant`` to ``make_persistent`` in ProxySubscriberCached; deprecated alias retained
+* Fix heartbeat topic type mappings in Topics constants
+* Move traceback imports to module level in ConcurrencyContainer and OperatableStateMachine
+* Proxy shutdown and GoalStatus constant cleanup in ProxyActionClient and ProxyPublisher
+* Fix test assertion to verify output userdata data-contract rather than proxy object identity
+
 4.1.1 (2026-03-25)
 ------------------
 * modify handling of PriorityContainer
diff --git a/flexbe_core/package.xml b/flexbe_core/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_core</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_core provides the core components for the FlexBE behavior engine.
     </description>
diff --git a/flexbe_core/setup.py b/flexbe_core/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='4.1.1',
+    version='4.1.2',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
diff --git a/flexbe_input/CHANGELOG.rst b/flexbe_input/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package flexbe_input
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+
 4.1.1 (2026-03-25)
 ------------------
 * add test coverage across all packages
diff --git a/flexbe_input/package.xml b/flexbe_input/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_input</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_input enables to send data to onboard behavior when required.
     </description>
diff --git a/flexbe_input/setup.py b/flexbe_input/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='4.1.1',
+    version='4.1.2',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
diff --git a/flexbe_mirror/CHANGELOG.rst b/flexbe_mirror/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package flexbe_mirror
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Add startup timer probes to detect and report unresponsive mirror node at launch
+* Handle ``rclpy.InvalidHandle`` exceptions during shutdown to prevent spurious error logs
+
 4.1.1 (2026-03-25)
 ------------------
 * fix deadlock issue in mirror
diff --git a/flexbe_mirror/package.xml b/flexbe_mirror/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_mirror</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_mirror implements functionality to remotely mirror an executed behavior.
     </description>
diff --git a/flexbe_mirror/setup.py b/flexbe_mirror/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='4.1.1',
+    version='4.1.2',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
diff --git a/flexbe_msgs/CHANGELOG.rst b/flexbe_msgs/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Add ``CLASS_OUTCOME`` string constant to ``StateInstantiation.msg``
+
 4.1.1 (2026-03-25)
 ------------------
 * bump version to 4.1.0
diff --git a/flexbe_msgs/package.xml b/flexbe_msgs/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_msgs</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_msgs provides the messages used by FlexBE.
     </description>
diff --git a/flexbe_onboard/CHANGELOG.rst b/flexbe_onboard/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package flexbe_onboard
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Add startup timer probes to detect and report unresponsive behavior nodes at launch
+* Always publish heartbeat regardless of whether a behavior is actively running
+* Handle ``rclpy.InvalidHandle`` exceptions during shutdown to prevent spurious error logs
+
 4.1.1 (2026-03-25)
 ------------------
 * add test coverage across all packages
diff --git a/flexbe_onboard/package.xml b/flexbe_onboard/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_onboard</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_onboard implements the robot-side of the behavior engine from where all behaviors are started.
     </description>
diff --git a/flexbe_onboard/setup.py b/flexbe_onboard/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=package_name,
-    version='4.1.1',
+    version='4.1.2',
     packages=find_packages(),
     data_files=[
         (os.path.join('share', package_name), glob('launch/*.launch.py')),
diff --git a/flexbe_states/CHANGELOG.rst b/flexbe_states/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_states
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Fix state docstrings in built-in states to conform to ``StateDocstringTester`` validation format
+
 4.1.1 (2026-03-25)
 ------------------
 * add test coverage across all packages
diff --git a/flexbe_states/package.xml b/flexbe_states/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_states</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
       flexbe_states provides a collection of common generic predefined states.
     </description>
diff --git a/flexbe_states/setup.py b/flexbe_states/setup.py
@@ -9,7 +9,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='4.1.1',
+    version='4.1.2',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
diff --git a/flexbe_testing/CHANGELOG.rst b/flexbe_testing/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package flexbe_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Add ``StateDocstringTester`` framework and ``state_docstring_tester`` CLI tool for validating FlexBE state docstring tags
+
 4.1.1 (2026-03-25)
 ------------------
 * add test coverage across all packages
diff --git a/flexbe_testing/package.xml b/flexbe_testing/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_testing</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_testing provides a framework for unit testing states.
     </description>
diff --git a/flexbe_widget/CHANGELOG.rst b/flexbe_widget/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package flexbe_widget
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.2 (2026-05-07)
+------------------
+* Use latched QoS for UI version topic subscription to ensure late-joining nodes receive the last published version
+* Add startup timer probes to detect unresponsive nodes at launch
+
 4.1.1 (2026-03-25)
 ------------------
 * modify the default node name of behavior_launcher
diff --git a/flexbe_widget/package.xml b/flexbe_widget/package.xml
@@ -4,7 +4,7 @@
     schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>flexbe_widget</name>
-    <version>4.1.1</version>
+    <version>4.1.2</version>
     <description>
         flexbe_widget implements some smaller scripts for the behavior engine.
     </description>
