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chore(main): release 3.0.0 #2

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28 changes: 28 additions & 0 deletions CHANGELOG.md
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# Changelog

## [3.0.0](https://github.com/vsurendran-bdai/crisp_controllers/compare/v2.1.0...v3.0.0) (2026-03-05)


### ⚠ BREAKING CHANGES

* major controller improvements + ros version ahndled with macros ([#36](https://github.com/vsurendran-bdai/crisp_controllers/issues/36))

### Features

* Add new parameters for the controllers and fix reference frame when using world base jacobian ([#29](https://github.com/vsurendran-bdai/crisp_controllers/issues/29)) ([2544834](https://github.com/vsurendran-bdai/crisp_controllers/commit/25448340bd536416819ebce55722b57b544d7027))
* add throttled pose / twist broadcasting ([bbaae79](https://github.com/vsurendran-bdai/crisp_controllers/commit/bbaae798c6f56804ef41e87711597ae1529f62f0))
* add twist_broadcaster that publishes end effector local twist ([2806ca7](https://github.com/vsurendran-bdai/crisp_controllers/commit/2806ca7eec03c48e1ef3ba305c57f9cde4b5dc5e))
* added release workflow ([6c959c8](https://github.com/vsurendran-bdai/crisp_controllers/commit/6c959c865f2b6953e6a1242fae34ab00a9d59803))
* broadcast frequency ([53eee4b](https://github.com/vsurendran-bdai/crisp_controllers/commit/53eee4b07110edae313f6e2c0a42a1ed6f30d27e))
* Fix Cartesian Controller to work with respect to the base_frame indicated in the parameters and not just world frame ([#10](https://github.com/vsurendran-bdai/crisp_controllers/issues/10)) ([da805ab](https://github.com/vsurendran-bdai/crisp_controllers/commit/da805ab45691a66279ca88138fc2583d5e77319b))
* major controller improvements + ros version ahndled with macros ([#36](https://github.com/vsurendran-bdai/crisp_controllers/issues/36)) ([abcddb0](https://github.com/vsurendran-bdai/crisp_controllers/commit/abcddb05ffdf5c9a471ad964cce5d14f602cb59c))
* refactor controller state update + add regularization configurable parameter for inverse mass matrix computation ([#40](https://github.com/vsurendran-bdai/crisp_controllers/issues/40)) ([d682c9a](https://github.com/vsurendran-bdai/crisp_controllers/commit/d682c9abb5837c798867def561e5220b0dfe61c8))
* Update docs with dynaarm ([#30](https://github.com/vsurendran-bdai/crisp_controllers/issues/30)) ([aa2be28](https://github.com/vsurendran-bdai/crisp_controllers/commit/aa2be286ef09b3d12a4ae35ecb9146f2f2ae2f9a))


### Bug Fixes

* add warning to for versions in docs ([5814498](https://github.com/vsurendran-bdai/crisp_controllers/commit/5814498444627ff808ab9c063b8d048bcc600ad8))
* Bug in broadcasting frequency of pose/twist broadcasters ([98dda54](https://github.com/vsurendran-bdai/crisp_controllers/commit/98dda5441f55dd8557d2e123b7f15f2e6de6ab9e))
* Bug in broadcasting frequency of pose/twist broadcasters ([c1ca95f](https://github.com/vsurendran-bdai/crisp_controllers/commit/c1ca95f765f79e8adec91c52502467620ad5b671))
* path for videos ([e80645e](https://github.com/vsurendran-bdai/crisp_controllers/commit/e80645e318f27f0e115c4d9081b73cf8ddaebcc9))
* Rollback jittery controller ([5d78af9](https://github.com/vsurendran-bdai/crisp_controllers/commit/5d78af9f9f1b2b2aa3bfe089eb6b33a03ce33858))

## [2.1.0](https://github.com/utiasDSL/crisp_controllers/compare/v2.0.0...v2.1.0) (2026-02-28)


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