Major Features​

Multi-Window Support​

Feeling crunched on screen space, but have multiple monitors? There is now a "New Window" option in the settings menu that opens MoveIt Pro in a new tab. This is useful, for example, in having one screen for editing and monitoring large Behavior Trees, and a second screen for monitoring camera feeds and visualizations. Note: it is recommended that you don't have the same view pane type open on multiple windows, as there are currently some known limitations.

Full Screen Mode​

There is now a button to switch between full screen and windowed mode in the settings menu, allowing for more screen space and enhancing usage as a robot operator terminal.

Enhancements​

Behavior Changes​

• GeneratePointToPointTrajectory can now take a target_state that contains a subset of the joints in the planning group. The positions and velocities of all joints not included in the target_state will be set to the start_state values.
• Add a configurable timeout parameters to the CallTriggerService Behavior.
• Make waitForServerAvailableTimeout configurable in ServiceClientBehaviorBase through optional getWaitForServerAvailableTimeout function.

Other Improvements​

• Added a new spline trajectory fitting class that fits piecewise splines to a set of points using convex optimization, and ensures no dynamic memory allocation during optimization or evaluation.
• Added support for retrieving metadata from ONNX models, including custom metadata entries and model version information.
• Added moveit_pro_ml::DiffusionPolicy to the moveit_pro_ml package. This class exposes an interface for running a diffusion policy to generate trajectories.
• Reduces peak VRAM memory consumption when running ML models
• Bump ROS 2 Humble snapshot to 2025-05-16.
• The version number for MoveIt Pro is printed to the terminal when moveit_pro run is called.

Bug Fixes​

• Fixed caching problem causing updated server-side meshes not to appear in the UI.
• Fixed an issue where deleting a subtree and undoing only adds back the node without its edges.
• Fixed an issue in the CreateJointState behavior where the created RobotJointState did not contain the names the user specified on the 'names' input port.
• Fixed an issue where extra binaries were being installed and overwriting parts of our source build, breaking the moveit_core and moveit_ros_planning targets. No migration is required.
• Fixed large stack traces caused by unhandled exceptions in launch files.
• The Velocity Force Controller (VFC) now can control chains that don't start at the URDF root. This required adding a new planning_group_name configuration parameter to the VFC config, with the name of the planning group that the VFC will control. This planning group name must be a valid group defined in the SRDF file. The joints config parameter is no longer required, since the VFC will automatically determine the joints from the planning group.
• Fixed some performance issues in simulation which resulted in TFs being published at a slower rate.
• Timestamps for image and point cloud messages from simulation cameras are more accurate.
• Fixed an issue where commands in the MoveIt Pro shell can overwrite characters in the terminal prompt.
• Fixed an issue where deleting the build artifacts would leave the install artifacts, resulting in a broken state.
• Fixed an issue where the Rest API failed to format objective XML files and printed "Error formatting XML file..." in the terminal.
• Fixed issue of marker not appearing in the UI when being added immediately after a marker delete message.
• Fixed issue where toasts would not immediately clear with dismiss button
• Fixed zram-config breaking installation despite not being a required package, marking it properly as a recommended package.
• Fixed Teleoperate settings button in Waypoint control mode - button is now properly disabled and grayed out while remaining visible.
• RecordJointTrajectory uses the incoming message header for time stamps instead of system time.
• Fixed issue where keepout zone IMarker would sometimes stop dragging

Migration Guide​

• The Velocity Force Controller (VFC) config now accepts a planning_group_name parameter, which is the name of the planning group that the VFC will control. The joints and base_link parameters are now deprecated. If your ros2_control.yaml file defines a Velocity Force Controller, please update it to include the planning_group_name parameter. The deprecated joints and base_link parameters will be removed in the next major release.

Bug Fixes​

• Fixed an issue where ROS dependencies aren't being installed due to an expired key.

Bug Fixes​

• Fixed an issue where ROS dependencies aren't being installed due to an expired key.

Bug Fixes​

• Fixed an issue where ROS dependencies aren't being installed due to an expired key.

In this release we focused on stability fixes and burning down a lot of "tech debt."

Major Features​

Full Screen View Pane​

A new button was added that fullscreens each view pane to allow zooming in.

Camera Calibration Procedure​

New Behaviors, Objectives, and how-to guide were added to support camera pose calibration.

Model Predictive Control (MPC) Now Available​

Your robots can now plan motions by simulating how they’d move in the real world—before actually moving. This is thanks to a new predictive control feature powered by a high-fidelity physics engine. The result? Smarter, safer, and more adaptive robot behavior in real time. A new base MoveIt Pro Behavior class named MPCBehaviorBase was added to provide the necessary tools and Behaviors to implement MPC in your applications. The added functionality is demonstrated in a new behavior called MPCPoseTracking, which can be used to track a moving pose with MPC.

Enhancements​

UI Changes​

• Attempting to save a planning scene to an existing filename now prompts the user to overwrite, instead of overwriting silently.
• The "Suggested Nodes" menu in the builder has been removed due to lack of use, to conserve screen space.

New Behaviors​

• Add GenerateVacuumGraspPoses Behavior which will replace SetupMTCGenerateVacuumGrasps as an alternative that no longer depends on the deprecated LoadObjectiveParameters Behavior.
• Add GenerateCuboidGraspPoses Behavior which will replace SetupMTCGenerateCuboidGrasps as an alternative that no longer depends on the deprecated LoadObjectiveParameters Behavior.
• Add AveragePoseStampedVector Behavior to average a vector of PoseStamped.
• Add CalibrateCameraPose to calibrate a camera optical pose using AprilTag poses of a calibration tool held by the robot end effector.
• Add SavePoseForUrdf to save a PoseStamped in xyz rpy URDF format to file.
• Add MPCPoseTracking for tracking a moving pose with MPC.

Deprecated Behaviors​

• LoadObjectiveParameters has been deprecated.
• SetupMTCGenerateVacuumGrasps has been deprecated in favor of the new GenerateVacuumGraspPoses Behavior.
• SetupMTCGenerateCuboidGrasps has been deprecated in favor of the new GenerateCuboidGraspPoses Behavior.
• SetupMTCApproachGrasp and SetupMTCRetractFromGrasp have been deprecated in favor of SetupMTCMoveAlongFrameAxis.

Behavior Changes​

• The WaitForUserTrajectoryApproval Behavior now includes a port to specify a list of link names to draw their Cartesian path in the preview. This list defaults to end effector grasp_links in our example configs, but it supports any link.
• The SwitchController Behavior now has an automatic_deactivation port (default: true) that will automatically deactivate any active controllers that are in conflict with the controllers being activated.

Documentation Improvements​

• New Tutorial: Developer Platform Usage

• New Guide: Basic Troubleshooting

• New Guide: Interacting with the Planning Scene

• Errors logged during an objective executed through the DoObjectiveSequence action are collected and returned in the error_message of the result if the objective fails.

Bug Fixes​

• Fixed an issue where the teleoperation sidebar would not automatically appear when using RequestTeleoperation inside objectives other than Teleoperate.
• Fixed a bug where VisualizeMesh could cause the entire robot visualization to reset briefly.
• Added a visual spinner when cloning a user workspace to indicate the launcher has not frozen.
• Added "Open Gripper" and "Close Gripper" stub objectives to the core MoveIt Pro objective library to fix Teleoperate not working out of the box for custom robots that do not have grippers.
• In an objective's xml description is incorrect and there does not exist a BehaviorTree element with the same ID as what is set in the main_tree_to_execute root attribute, it will appear in the builder view under the "Parsing Error" category. Previously, such objectives would not appear at all.
• Fixed a bug where the PoseJog marker would not be removed when the PoseJog Behavior was stopped.
• Fixed a bug causing the Reset Marker not to work the second time it is pressed.
• Fixed a bug where the allowed_collision_links in the AttachTool Behavior were not being set.
• Fixed an issue where the initial_teleop_mode port in the RequestTeleoperation subtree was not being respected by the UI.
• Fix a bug where the default tool_pose port of the AddToolToScene Behavior had a JSON string value instead of a blackboard value.

Bug Fixes​

• Fixed an issue where the behavior tree status visualizer would throw an error when loaded.

Major Features​

We're proud to announce our latest major release - 8.0!

A reminder that our major releases typically include more complex migration steps for your robot_config, so that we can evolve the capabilities of MoveIt Pro and reduce technical debt. We promise to release major versions no more than 4 times per year, or about once per quarter.

Revamped Pose Jog Teleoperation​

A totally reimagined Pose Jog teleoperation mode that replaces the old MoveIt Servo TeleoperateTwist Behavior.

PoseJog offers several improvements over the previous implementation, such as better behavior at singularities, improved collision avoidance and recovery, and support for multiple groups. The new PoseJog can be used beyond teleoperation, for instance in any application that requires streaming Cartesian velocities to the robot. More details here, and also check out the Migration Guide, below, for how to migrate from the old TeleoperateTwist Behavior to the new PoseJog Behavior.

Learning to Grasp​

GetGraspPoseFromPointCloud uses the Learning to Grasp AI model to produce grasp poses for objects from point clouds.

Multi-tip Path IK​

PlanCartesianPath can now solve the path Inverse Kinematics for multiple end-effectors moving synchronously along a path. Check out the Multi-tip Path IK Example Objective in the multi_arm_sim config for an example of this feature.

Integration of Fuse​

MoveIt Pro now includes the Fuse state estimation framework out of the box, and has a new guide on how to utilize it in your custom MoveIt Pro configuration.

Enhancements​

• We now use the OrtCudnnConvAlgoSearchHeuristic configuration for the CUDA ONNX runtime provider, which improves first time inference speed up to 2x faster.

UI Changes​

• Adds a sidebar for the IMarker, moves the reset button there
• Improved the visibility and usability of the Auto Layout button.
• Sidebar now auto-closes during objective execution to maximize workspace visibility.
• Changed the toast message for out of date software versions from an error to a warning.
• When a Subtree is expanded in the editor, the entire graph will layout to avoid nodes overlapping
• Fixed inconsistent styling of primary and secondary buttons.
• Improved UX alignment: Prevented the search bar from shifting when switching between Build and Run tabs.
• Removed unnecessary confirmation screens to improve user experience and usability.
• Added a button to expand/collapse Behavior/Objective sidebar categories for improved navigation.
• Changed keep-out zones to green to make them easier to distinguish from collision spheres.
• Removed the click handler from "Run" tab objectives list to increase safety. Require users to use the action buttons on the right.
• Removes Teleoperation mode top bar and relocates all functionality to the sidebar
• Consolidates favorited waypoints to appear at the top of the waypoints sidebar list
• A Subtree used in other objectives can now be deleted. First showing a confirm modal with the list of objectives it is being used in
• Removes behavior search popover in favor of filtering down listed behaviors in sidebar

Reference Application Changes​

• Improve ML example behaviors to include bounding boxes visualization of segment image
• Add new Objectives category called "ML - Applications" that clarifies which Objectives leverage ML models and likely require GPUs
• Add kinova_gen3_site_config for kinova hardware
• Add fuse grappling example to space_satellite_sim config

Other New Behaviors​

• Added a SwitchController Behavior which allows you to use the ros2_control API to switch controllers.
• Added IsAnyObjectAttached, IsCollisionObjectInPlanningScene, and WhichObjectIsAttached Behaviors to better introspect a PlanningScene.
• Added a ComputeLinkPoseForwardKinematics Behavior to compute the cartesian pose of a link given joint states.
• The AsyncBehavior base class is now an option when generating custom behaviors from the UI. Take a look here for some examples of behaviors that inherit from AsyncBehaviorBase.

Behavior Changes​

• The ActivateControllers and InitializeMTCTask Behaviors now require a list of controller names separated by semicolons instead of spaces. This makes it more consistent with how arrays of objects are handled in other Behaviors.
• The Behaviors SetupMTCPickFromPose, SetupMTCPickObject and SetupMTCPlaceFromPose have been removed, since similar functionality can now be achieved with more granular MTC Behaviors.
• The PlanCartesianPath Behavior can now solve for multiple end-effectors. Therefore the tip_link input port has been renamed to tip_links, which can now accept a list of tip links.
• SetupMTCCurrentState port skip_collision_check is removed (the port was deprecated in 7.5.0).
• The AsyncBehaviorBase template class and all its dependents now have clearer error messages in the UI when they fail.
• PublishMask2D can now publish bounding boxes around masks when given a class label or annotations.
• Visual markers are deleted before running an objective. The default behavior can be switched off by setting the configuration parameter "clear_visual_markers_at_start": False.
• CalculatePoseOffset now returns the offset as a geometry_msgs/PoseStamped message instead of a geometry_msgs/Pose message, to make it compatible with the rest of Behaviors that use PoseStamped messages. The frame_id of the returned pose will match the frame_id of the 'source' pose. TransformPoseFromYaml has been deprecated and will be removed in a future release. It is recommended to use LoadPoseStampedFromYaml and TransformPoseWithPose instead.
• Added the ik_group port to SetupMTCBatchPoseIK, enabling users to specify the group for which inverse kinematics should be solved.
• The CreateStampedPose Behavior will now fail if the input quaternion is of zero length and cannot be normalized.
• AddPoseStampedToVector will now send a descriptive error message to the UI if the user attempts to run the behavior without setting the required input port.

Documentation Improvements​

• New concepts page: Deployment, Commissioning, and Fleet Management
• Heavy rework of tutorials 1 and 2
• Add Kinova Gen3 7DoF Hardware Setup Guide

Other Improvements​

• Submodules are now downloaded in parallel, speeding up download times for the example workspace repository.
• Switched to a trimmed down version of the MoveIt library to reduce code maintenance. See the Migration Guide section below for details.
• The ignition_resources volume, only relevant to Gazebo, has been removed from the default docker-compose file.
• The moveit_pro dev service now has the nvidia runtime set by default on NVIDIA machines, matching the environment in the full application.
• The user workspace docker-compose.yaml can now be used to override the runtime: nvidia parameter for more advanced users on NVIDIA machines.
• The Velocity/Force Controller (VFC) now supports both joint position and velocity interfaces, and can rename the commanded joint names to support layered controllers.
• Added -c option to moveit_pro configure command to specify the configuration package.
• Added -w option to moveit_pro configure, moveit_pro build, moveit_pro build user_image and moveit_pro build user_workspace commands to specify the location of the user workspace.
• Error messages when creating a new objective from the UI are now more clear.
• Added new pytest fixture in the moveit_pro_test_utils package to test objectives in a robot config.
• MoveIt Pro now installs a recommended zram configuration on Ubuntu by default, to make memory-intensive use cases like compiling large configurations or running ML models more consistent.

Bug Fixes​

• Fixed documentation admonition stating wrong version.
• Fixed an issue where the UI would not respond to a /switch_primary_view service call if the view was already visible - even though it wasn't primary.
• Fixes issue where opening / closing gripper buttons would change teleoperation sidebar unnecessarily
• Fixed an issue where the UI would incorrectly show an objective as "loading" when it had already completed or failed.
• Fixed crash that occurs frequently when running Pro with FastDDS during destruction of behaviors that inherit from the GetMessageFromTopicBehaviorBase class.
• Fixed launcher script prompting for configuration package twice.
• Fixed issue causing Debian package uninstall to read configuration files from the root folder instead of user folder.
• Fixed dead DDS doc link that is printed when moveit_pro configure is run
• Fixes issue where "Run" button would stay after an objective was changed to non-runnable
• Fixed a bug where some nodes other than Sequence nodes could erroneously be converted to SubTrees in the Build tab.
• The Debian package now installs .version into /opt/moveit_pro instead of /etc/moveit_pro.

Migration Guide​

Pose Jog Teleoperation​

The TeleoperateTwist Behavior has been replaced with the new PoseJog Behavior. This required changes in the way the UI communicates with the backend, and therefore the UI after 8.0.0 is not compatible with the old TeleoperateTwist Behavior.

You will need to update your Request Teleoperation Objective to use the new PoseJog Behavior, and include a PoseJog config file. Please check out this configuration guide for details.

C++ API Changes​

• The TF buffer for the moveit_studio::behaviors::BehaviorContext shared_resources is now accessed via the pointer transform_buffer_ptr. The pointer field replaces the old value type named transform_buffer. Additionally, transform_listener_ptr and transform_broadcaster_ptr replaced transform_listener and transform_broadcaster.

Behavior API Changes​

• References to ActivateControllers or InitializeMTCTask in Objectives need to be updated to include the list of controllers as controller names separated by semicolons, instead of spaces, in case multiple controllers are listed. For example:

<Action
  ID="ActivateControllers"
  controller_names="controller_one;controller_two"
/>
<Action
  ID="InitializeMTCTask"
  controller_names="controller_one;controller_two"
/>

• PlanCartesianPath now accepts a list of tip links instead of a single tip link. The input port tip_link has been renamed to tip_links, and the input type has changed from string to string[]. For example:

<Action
  ID="PlanCartesianPath"
  ...
  tip_links="grasp_link"  # Separate multiple tips with semicolons, e.g. "link_one;link_two"
  ...
/>

• All references to the skip_collision_check port in SetupMTCCurrentState should be removed

• DetectApriltags now takes in all AprilTag detection parameters on ports rather than by parsing YAML input. Users can now delete the deprecated LoadObjectiveParameters behavior in their objectives that use DetectApriltags and transfer the parameters from the .yaml file to the ports of DetectApriltags. Also note: the z_up parameter is no longer accepted for AprilTag detections and tags will always be detected with the detection pose z axis facing up, out of the tag and towards the camera. If you were previously setting the z_up parameter to false, you can use the TransformPose behavior with the detected pose on the input_pose port and the quaternion_xyzw port set to 1;0;0;0.

• FindSingularCuboids now takes in all cuboid detection parameters on ports rather than by parsing YAML input. Users can now delete the deprecated LoadObjectiveParameters behavior in their objectives that use FindSingularCuboids and transfer the parameters from the .yaml file to the ports of FindSingularCuboids.

• Several breaking changes were made to the IsConstraintSatisfied Behavior:

  • The Behavior has been renamed to IsVisibilityConstraintSatisfied for disambiguation.
  • IsVisibilityConstraintSatisfied now takes in all visibility constraint parameters on ports rather than by parsing YAML input as was done with IsConstraintSatisfied. Users can now delete the deprecated LoadObjectiveParameters behavior in their objectives that used IsConstraintSatisfied and transfer the parameters from the .yaml file to the ports of IsVisibilityConstraintSatisfied.
  • IsVisibilityConstraintSatisfied now takes in a planning_scene_msg port to reduce the overhead of managing a planning scene monitor within the behavior. Users can use the GetCurrentPlanningScene Behavior to get the planning_scene_msg object needed as an input port to IsVisibilityConstraintSatisfied.

• CalculatePoseOffset now returns the offset as a geometry_msgs/PoseStamped message. Any Objectives using this Behavior should be updated to use its output as geometry_msgs/PoseStamped instead of geometry_msgs/Pose.

• SetupMTCBatchPoseIK now requires the ik_group input port to be specified which informs the solver of the planning group for which inverse kinematics should be solved. For example:

<Action
  ID="SetupMTCBatchPoseIK"
  ...
  ik_group="manipulator"
  ...
/>

• GetPointsFromUser, GetImage, GetPointCloud, GetSyncedImageAndPointCloud, and GetSyncedImages have had their default parameters for certain ports updated:
  • GetPointsFromUser
    • view_name: /wrist_mounted_camera/color/image_raw -> /wrist_camera/color
  • GetImage
    • topic_name: /wrist_mounted_camera/color/image_raw -> /wrist_camera/color
  • GetPointCloud
    • topic_name: /wrist_mounted_camera/depth/color/points -> /wrist_camera/points
  • GetSyncedImages
    • image_1_topic_name: /wrist_mounted_camera/color/image_raw -> /wrist_camera/color
    • camera_info_1_topic_name: /wrist_mounted_camera/color/camera_info -> /wrist_camera/camera_info
    • image_2_topic_name: /wrist_mounted_camera/depth/image_raw -> /scene_camera/color
    • camera_info_2_topic_name: /wrist_mounted_camera/depth_registered/camera_info -> /scene_camera/camera_info
  • GetSyncedImageAndPointCloud
    • point_cloud_topic_name: /wrist_mounted_camera/depth/color/points -> /wrist_camera/points
    • rgb_image_topic_name: /wrist_mounted_camera/color/image_raw -> /wrist_camera/color
    • rgb_camera_info_topic_name: /wrist_mounted_camera/color/camera_info -> /wrist_camera/camera_info

MoveIt Library Changes​

We have switched to a trimmed down version of the MoveIt library. The following plugins and APIs will no longer be available in the default installation for their use in configs and Behaviors. Please contact us if you were using any of these APIs in your custom Behaviors.

• Kinematics plugins: KDL, FastIK, Srv have been removed from the default installation. Please switch to PoseIK.
• MoveIt Setup Assistant is no longer available within the MoveIt Pro container. You can still install the package in your host system via apt-get if needed, e.g. sudo apt-get install ros-humble-moveit-setup-assistant.
• Trajectory cache (a C++ API to cache motion plans).
• Some MoveGroup capabilities that are not used in MoveIt Pro: MoveGroupCartesianPathService, MoveGroupExecuteService, MoveGroupExecuteTrajectoryAction, MoveGroupMoveAction, MoveGroupPlanService, MoveGroupQueryPlannersService, MoveGroupStateValidationService, TfPublisher.
• The Hybrid Planning pipeline.
• Planners unused in MoveIt Pro: chomp and pilz. stomp is still available for anyone needing an optimization-based planner. Use of pilz should be replaced with MoveIt Pro Cartesian planning capabilities.
• The Bullet collision checker, since FCL has been used by default in all the configs.

Please contact support if you were using any of the above features and need help migrating.

Behaviors removed​

• SetupMTCPickFromPose, SetupMTCPickObject and SetupMTCPlaceFromPose have been removed. If you were using any of these Behaviors, please take a look at the Pick from Pose and Place at Pose Subtrees in lab_sim for an example of how to achieve similar functionality by combining other more granular Behaviors, or contact support for help.
• GetDoorHandle has been removed. It is now recommended to use the new Machine Learning Behaviors for more granularity. We recommend creating a subtree that has the Behaviors GetMasks2DFromTextQueryInterface with door handle as the object, GetMasks3DFromMasks2D to convert the 2D masks to 3D masks, GetPointCloudFromMask3D to create the point cloud for the segmented door handle, and GetGraspPoseFromPointCloud to get the grasp pose for the door handle.

Bug Fixes​

• Fixed an issue where MoveIt Pro writes objective xml files with too much whitespace.

A small release before the upcoming 8.0 release...

Enhancements​

UI Changes​

• No longer show "+n More" ports button as clickable in the status Behavior Tree pane
• Renamed the "Success" button to "Continue" to better reflect its function of proceeding with the objective execution.

Reference Application Changes​

• Various improvements to multi_arm_sim example robot_config

Behavior Changes​

• PlanToJointGoal and its MTC-equivalent SetupMTCPlanToJointState now have a new port called seed that allows you to specify the seed for the random number generator used during path planning. The same seed number will generate the same results for the same input parameters. This can be used to explore other solutions if the one found by the planner with the default seed is not satisfactory.
• Removed SetupMTCGraspAndTwistThenMoveAlongArcPush and SetupMTCGraspThenMoveAlongArcPull Behaviors. These can be replicated as Objectives using existing Behaviors.
• Updated SetupMTCApproachGrasp, SetupMTCConnectWithTrajectory, SetupMTCMoveToJointState, SetupMTCMoveToNamedState, SetupMTCMoveToPose, SetupMTCPickFromPose, SetupMTCPickObject, and SetupMTCPlaceFromPose to use ProRRT by default.
• SetupMTCApproachGrasp now exposes link_padding as a parameter for use with ProRRT.

Documentation Improvements​

• Clarified how to interact with IMarker in "Basic Usage" tutorial and fixed typo
• Updated "Basic Usage" tutorial to show updated PoseJog d-pad screenshot

Bug Fixes​

• Fixed an issue where the gamepad support in Pose Jog mode of Teleoperate was not respecting analog trigger inputs on capable controllers.
• Some topic subscriptions in the UI were erroneously using ROS 1 message types. They have been updated to use ROS 2 message types.
• Fixes inability to interact with "Markers" dropdown menu when it was in a bottom pane.
• It should no longer be possible to navigate away from an objective with unsaved changes.
• Fixed a bug where an objective might revert to an earlier state in the editor when clicking "Done" or "Convert to Subtree".
• Fixes issue where trying to scroll through a port dropdown in the Behavior Tree editor would instead zoom.
• Fixed a bug where running moveit_pro dev after changing the workspace Dockerfile doesn't use an updated version of the image.
• Fix issue in moveit_pro configure where available robot configs were not being displayed.
• Fixes issue where log level preferences were not being saved to local storage
• Fixed a dependency issue on Debian Bookworm.
• Fixes a issue in the Joint Trajectory with Admittance controller (JTAC) that could cause a deadlock when loading the controller.
• Fixed issue where IOController claimed more command interfaces than specified
• Fixes bug that wouldn't allow you to add a port whose name starts with another port's name
• Fixed issue with double titles in documentation

Bug Fixes​

• Reverted the workspace version check to allow a smoother installation process. We will reintroduce the check in a future release.