Migration to 2.10.0

Move Robotiq Drivers out of Core MoveIt Studio

The ROS 2 Robotiq Gripper Drivers were included in previous versions of MoveIt Studio. Robot configuration packages requiring access to a Robotiq Gripper must now include those hardware interfaces to be built in the user mounted workspace.

For example, the standard Universal Robots configuration package has included the drivers as a submodule.

Additional Updates Changes in MoveIt Servo

To enable switching planning groups when using Endpoint or Joint control we use the latest version of MoveIt Servo for Manual Control.

As of 2.10.0, any group defined in your SRDF that defines a serial manipulator with sufficient degrees of freedom can be enabled from the manual control tab. Most importantly, the planning and end-effector frames are now determined automatically from the joint model groups in the SRDF, so the planning_frame, ee_frame, and robot_link_command_frame parameters are no longer required. We strongly recommend auditing your configuration package’s Servo parameters to ensure accuracy and relevance.

For example, refer to the Universal Robots package’s Servo Configuration. For additional information refer to the MoveIt Servo parameters file.