Breakpoints Usage

MoveIt Pro allows setting breakpoints wherever one wants to pause Objective execution, so you can investigate the state of the robot, the planning scene, and the blackboard part-way through a run.

Launch the Runtime and Desktop App

We assume you have already installed MoveIt Pro to the default install location. Start the MoveIt Pro Runtime using:

moveit_pro run -c lab_sim

Then launch or connect the separately distributed MoveIt Pro Desktop App. The Runtime does not serve a bundled user interface.

Adding Breakpoint to Objective

Add the Behavior BreakpointSubscriber to your Objective to add breakpoints. Here is an Objective with a breakpoint.

Set the optional message port to a short description of why the breakpoint is there. It is displayed under the Breakpoint heading in the prompt, which keeps the pauses distinguishable once a tree has more than one.

Resuming Objective Execution After Encountering Breakpoint

When execution reaches the breakpoint, a Breakpoint prompt appears with two buttons: Resume continues to the next Behavior, and Stop cancels the Objective. A short beep plays alongside it.

Command Line Interface to Step Through Breakpoints

Open an interactive Bash session with the MoveIt Pro Runtime Docker container:

moveit_pro shell

Enter the following command to continue Objective execution when an Objective is paused on a breakpoint Behavior.

ros2 topic pub --once /moveit_pro_breakpoint std_msgs/msg/Bool "{data: true}"