Migration to 5.0.0

New installation: MoveIt Pro Debian Package

Starting with version 5.0.0, MoveIt Pro is now available as a Debian package. The installer will make the moveit_pro command available in your terminal, which can be used to run the MoveIt Pro tool.

MoveIt Pro is now installed system-wide, and the user workspace is located in the ${HOME}/moveit_pro folder.

Removed .env file

The .env file has been removed from the MoveIt Pro tool in version 5.0.0.

You can configure your MoveIt Pro installation with help of the moveit_pro configure command, which will ask you for the necessary information and write it to the configuration file. You can also manually edit the configuration file located at ${HOME}/.config/moveit_pro/moveit_pro_config.yaml.

Removed tree_nodes_model.xml

The tree_nodes_model.xml file that previously had to be manually created and maintained for all Behaviors is now auto-generated. The auto-generated file is located at ${HOME}/.config/moveit_pro/${STUDIO_CONFIG_PACKAGE}/auto-created/generated_tree_nodes_model.xml.

Behaviors now need the following to ensure they’re a part of generated_tree_nodes_model.xml:

• a static BT::KeyValueVector metadata() method needs to be added to the Behavior class’ public API.
• in static BT::PortsList providedPorts(), add a default value and port description for each port definition.

Here is an example c++ implementation for a Behavior called MyBehavior, which has the following ports:

• input port named text_in of type std::string
• output port named num_out of type int

BT::KeyValueVector MyBehavior::metadata()
{
  return { { "subcategory", "Custom Behaviors" }, { "description", "This is a Behavior that takes in a string and outputs an int." } };
}

BT::PortsList MyBehavior::providedPorts()
{
  return { BT::InputPort<std::string>("text_in", "default value for port text_in", "Description of port text_in"),
           BT::OutputPort<int>("num_out", 5, "Description of port num_out") };
}

moveit_pro command improvements

In previous releases, the MoveIt Pro tool was launched from the installation directory by running the ./moveit_pro or ./moveit_studio command. Starting with version 5.0.0, the tool is now launched by running the moveit_pro command in your terminal from any directory. Type moveit_pro --help for guidance on command line usage