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2.2.0

· 2 min read

Changes in This Release​

  • Initial support for inclusion of subtrees in Objectives, and for creating and modifying them through the Objective Editor.
  • New API and button to download all logs as a zip file from the logging tab.
  • Added undo/redo functions and buttons to the Objective Editor.
  • Added tooltips and safety checks to the joint jogging control interface.
  • Interactive marker for Cartesian endpoint control.
  • New tutorial for interacting with MoveIt Studio's Do Objective Action Server.
  • Ability to reset the camera view for kiosk mode deployments.
  • New base Behavior class for getting the latest message published on a ROS topic.
  • Additional functionality for headless deployments and configuration have been added to the MoveIt Studio launch utility.
  • Moved the standard_tree_nodes_model.xml and included tree_nodes_model.xml to standard, included locations.
  • Timeouts and additional checks for Formant enabled deployments.
  • Adjusted MoveIt Servo parameters for UR Robots to the most up-to-date configuration.
  • Fixed verbosity for top level Behaviors when running Objectives.
  • Fixed inability to copy text from toast warning popups.
  • Fixed issues with creating and recreating publishers and subscribers in abstract Behavior classes.
  • Fixed issues with the "Clear Snapshot" Objective.
  • Fixed error messaging for some Objectives with specific hardware requirements.
  • Fixed port validation in the Create Behavior API.
  • Fixed issues with marker rendering and overlapping in the nav bar.
  • Fixed issues for camera controls in the preview window.
  • Fixed re-rendering robot previews when approving trajectories.

Migration Guide​

Remove Standard and Built-In Tree Nodes XML​

All built-in MoveIt Studio and BehaviorTree.CPP behaviors are now specified from included node model XML files. There is no longer a need to maintain the standard_tree_nodes_model.xml or tree_nodes_model.xml files in your objectives directory. For more information refer to the public user workspace