Added more jazzy release notes (#4443) (#4446)

* Added more jazzy release notes

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 1d942c4)

Co-authored-by: Alejandro Hernández Cordero <[email protected]>

source/Releases/Release-Jazzy-Jalisco.rst

@@ -149,6 +149,17 @@ Allows users to use Type Adaptation within message_filters.
 
 See https://github.com/ros2/message_filters/pull/96 for more information.
 
+``rcl``
+^^^^^^^
+
+Add get type description service
+""""""""""""""""""""""""""""""""
+
+Implements the ``~/get_type_description`` service which allows external users to get descriptions of each type that a node offers.
+This is offered by each node according to `REP 2016 <https://github.com/ros-infrastructure/rep/pull/381>`__.
+
+See https://github.com/ros2/rcl/pull/1052 for more details.
+
 ``rclcpp``
 ^^^^^^^^^^
 
@@ -173,6 +184,18 @@ It is now possible to use ``--log-file-name`` command line argument to specify t
 
 See https://github.com/ros2/ros2cli/issues/856 for more information.
 
+Added QoS to subscription options
+"""""""""""""""""""""""""""""""""
+
+A user-settable QoS parameter was added to the ``TopicStatisticsOptions``, which allows the statistics to have a different QoS from the subscription itself.
+
+See https://github.com/ros2/rclcpp/pull/2323 for more details.
+
+Add clients and services count
+""""""""""""""""""""""""""""""
+
+It is now possible to get the number of clients created by a service.
+
 ``ros2action``
 ^^^^^^^^^^^^^^
 
@@ -274,7 +297,7 @@ See https://github.com/ros2/rviz/issues/1113 for more details.
 Reset functionality
 """""""""""""""""""
 
-It is possible to reset Time using a new service or using the shorcut ``R``.
+It is possible to reset Time using a new service or using the keyboard shortcut ``R``.
 
 See https://github.com/ros2/rviz/issues/1109 and https://github.com/ros2/rviz/issues/1088 for more details.
 
@@ -303,6 +326,26 @@ It is possible to visualize CameraInfo messages in the 3D scene.
 
 See https://github.com/ros2/rviz/pull/1166 for more details.
 
+``rcpputils``
+^^^^^^^^^^^^^
+
+Added tl_expected
+"""""""""""""""""
+
+`std::expected <https://en.cppreference.com/w/cpp/utility/expected>`__ is C++23 feature, which is not yet supported in ROS 2.
+However, it is possible to use ``tl::expected`` from rcpputils via a backported implementation.
+
+See https://github.com/ros2/rcpputils/pull/185 for more details.
+
+``rcutils``
+^^^^^^^^^^^
+
+Add human readable date to logging formats
+""""""""""""""""""""""""""""""""""""""""""
+
+It is now possible to output dates in a human readable format when using console logging by using the ``{date_time_with_ms}`` token in the ``RCUTILS_CONSOLE_OUTPUT_FORMAT`` environment variable.
+
+See https://github.com/ros2/rcutils/pull/441 for more details.
 
 Changes since the Iron release
 ------------------------------
@@ -343,9 +386,35 @@ Included new API to lookup the velocity of the moving frame in the reference fra
 
 See https://github.com/ros2/geometry2/pull/646 for more information.
 
+``rcl``
+^^^^^^^
+
+Improved rcl_wait in the area of timeout computation and spurious wakeups
+"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+
+Added special handling for timers with a clock that has time override enabled.
+For these timer we should not compute a timeout, as the waitset is woken up by the associated guard condition.
+
+See https://github.com/ros2/rcl/issues/1146 for more details.
+
 ``rclcpp``
 ^^^^^^^^^^
 
+Fixed data race conditions
+""""""""""""""""""""""""""
+
+Fixed data race conditions in executors.
+
+See https://github.com/ros2/rclcpp/issues/2500 for more details.
+
+Utilize ``rclcpp::WaitSet`` as part of the executors
+""""""""""""""""""""""""""""""""""""""""""""""""""""
+
+Improve the number of ``rcl_wait_set`` creations and deletions by making the default Single/Multithreaded executors work like the static single threaded executor
+in terms of entity collection rebuilding.
+
+See https://github.com/ros2/rclcpp/pull/2142 for more details.
+
 ``rclcpp::get_typesupport_handle`` is deprecated
 """"""""""""""""""""""""""""""""""""""""""""""""
 
@@ -368,8 +437,29 @@ Back in Humble, subscription signatures of the form ``void callback(std::shared_
 In Jazzy, these subscription signatures have been removed.
 Users should switch to using ``void callback(std::shared_ptr<const MessageT>)`` or ``void callback(std::shared_ptr<const MessageT>, const rclcpp MessageInfo &)``.
 
+``rclcpp_action``
+^^^^^^^^^^^^^^^^^
+
+Callback after cancel
+"""""""""""""""""""""
+
+Added a function to stop callbacks of a goal handle after it has gone out of scope.
+This function allows us to drop the handle in a locked context.
+
+See https://github.com/ros2/rclcpp/pull/2281 for more details.
+
+``rclcpp_lifecycle``
+^^^^^^^^^^^^^^^^^^^^
+
+Add new node interface TypeDescriptionsInterface
+""""""""""""""""""""""""""""""""""""""""""""""""
+
+Add new node interface ``TypeDescriptionsInterface`` to provide the ``GetTypeDescription`` service.
+
+See https://github.com/ros2/rclcpp/pull/2224 for more details.
+
 ``rclpy``
-^^^^^^^^^^
+^^^^^^^^^
 
 ``rclpy.node.Node.declare_parameter``
 """""""""""""""""""""""""""""""""""""
@@ -378,17 +468,23 @@ The ``rclpy.node.Node.declare_parameter`` does not allow statically typing param
 
 See https://github.com/ros2/rclpy/pull/1216 for more details.
 
+Added types to method arguments
+"""""""""""""""""""""""""""""""
+
+Added type checking to improve the experience for anyone using static type checking.
+
+See https://github.com/ros2/rclcpp/pull/2224, https://github.com/ros2/rclpy/issues/1240, https://github.com/ros2/rclpy/issues/1237, https://github.com/ros2/rclpy/issues/1231, https://github.com/ros2/rclpy/issues/1241, and https://github.com/ros2/rclpy/issues/1233.
+
 ``rqt_bag``
 ^^^^^^^^^^^
 
 Improved performance and updated rosbag API
 """""""""""""""""""""""""""""""""""""""""""
 
-There are some breaking changes in the rosbag2 API and Ubuntu Nobel libraries versions that required some changes to use rqt_bag.
+There are some breaking changes in the rosbag2 API and Ubuntu Noble library versions that required some changes to ``rqt_bag``.
 
 See https://github.com/ros-visualization/rqt_bag/pull/156 for more details.
 
-
 Development progress
 --------------------