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 includedtree_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