Release 2.7.0 (#165)

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>

Author: mxgrey

rmf_building_sim_gz_plugins/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rmf\_building\_sim\_gz\_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.0 (2026-06-17)
+------------------
+* Lyrical compatibility (`#163 <https://github.com/open-rmf/rmf_simulation/issues/163>`_)
+  * Remove line that was causing UB segfault in gz_sim
+  * Return to removing AxisAlignedBox component
+  ---------
+  Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
+* Contributors: Grey
+
 2.6.1 (2025-11-17)
 ------------------
 * Qt5 and Qt6 compatibility (`#157 <https://github.com/open-rmf/rmf_simulation/issues/157>`_)

rmf_building_sim_gz_plugins/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>rmf_building_sim_gz_plugins</name>
-  <version>2.6.1</version>
+  <version>2.7.0</version>
   <description>
     Gazebo plugins for building infrastructure simulation
   </description>

rmf_robot_sim_common/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package rmf\_robot\_sim\_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.0 (2026-06-17)
+------------------
+* feat: publish collision string message during emergency stop (Resolves `#159 <https://github.com/open-rmf/rmf_simulation/issues/159>`_) (`#160 <https://github.com/open-rmf/rmf_simulation/issues/160>`_)
+  Implemented feature
+  This PR introduces a ROS 2 publisher to broadcast collision events, enabling automated CI and QA scripts to detect when simulated robots enter an emergency stop state.
+  Resolves: `#159 <https://github.com/open-rmf/rmf_simulation/issues/159>`_
+  # Implementation description
+  To allow external testing scripts (such as those needed for rmf_ros2`#504 <https://github.com/open-rmf/rmf_simulation/issues/504>`_) to detect simulation level collisions, the following approach was taken:
+  In slotcar_common.cpp, modified the emergency_stop() method. When need_to_stop evaluates to true (indicating the robot is too close to an obstacle based on stop_distance and stop_radius), the node publishes a string containing the _model_name. This ensures test scripts can identify exactly which robot triggered the collision state.
+  ---------
+  Co-authored-by: Grey <greyxmike@gmail.com>
+* Fix heading check in compute_change_in_rotation for slotcar (`#162 <https://github.com/open-rmf/rmf_simulation/issues/162>`_)
+* Contributors: Aditya Pachauri, kj
+
 2.6.1 (2025-11-17)
 ------------------
 * Fix reverse drive for slotcar (`#150 <https://github.com/open-rmf/rmf_simulation/issues/150>`_)

rmf_robot_sim_common/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>rmf_robot_sim_common</name>
-  <version>2.6.1</version>
+  <version>2.7.0</version>
   <description>
     Common utility functions for Gazebo-classic and Gazebo RMF plugins
   </description>

rmf_robot_sim_gz_plugins/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rmf\_robot\_sim\_gz\_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.0 (2026-06-17)
+------------------
+
 2.6.1 (2025-11-17)
 ------------------
 * Qt5 and Qt6 compatibility (`#157 <https://github.com/open-rmf/rmf_simulation/issues/157>`_)

rmf_robot_sim_gz_plugins/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>rmf_robot_sim_gz_plugins</name>
-  <version>2.6.1</version>
+  <version>2.7.0</version>
   <description>
     ROS 2 Gazebo plugins for TeleportIngestors and TeleportDispensers
   </description>