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2.4.0

· 3 min read

Changes in This Release​

  • Robot configuration packages now support multi-level inheritance.
  • Custom meshes now render in the web app.
  • Updates to Universal Robots example workspace
    • Update configuration packages to use multi-level inheritance.
      • MoveIt configuration now includes the STOMP optimizing motion planner and Anytime Path Shortening (APS) adapter.
      • Switch between different UR arm models with one configuration parameter.
  • Run multiple MoveIt motion planners in parallel with Move to Joint State and Move to Pose Behaviors.
  • Find Singular Cuboids Behavior now allows setting the parent frame instead of using the camera frame by default.
  • pick_ik inverse kinematics plugin version updated for bug fixes and new features.
  • Enhancements and functional fixes to interactive marker based endpoint control.
  • Update Behavior Trees concept documentation with more resources.
  • UI updates: Added description tooltips to favorites Objectives, scroll wheel always zooms in Behavior Tree editor, consistent use of terminology in menu items.

Migration Guide​

Multi-Level Robot Configuration Package Inheritance​

In previous versions of MoveIt Studio, Configuring MoveIt Pro for a Specific Robot enforced up to two levels of inheritance. A base configuration package required a config/base_config.yaml file and a site configuration package required a config/site_config.yaml file.

Starting from 2.4.0, you can inherit configuration packages generically using files named config/config.yaml. This enables you to create a deeper hierarchy of configurations to handle site-specific variations that share some common functionality.

For example:

# site_config/config/config.yaml
based_on_package: "base_config"

# site_001_config/config/config.yaml
based_on_package: "site_config"

# site_001_no_cameras_config/config/config.yaml
based_on_package: "site_001_config"

For compatibility with previous versions, files named base_config.yaml and site_config.yaml will still be parsed correctly.

Custom Meshes Automatically Render in the Web App​

In previous versions of MoveIt Studio, rendering custom meshes for your robot and/or environment models in the web app required manually copying files to a specific folder on your system.

Starting from 2.4.0, there is a REST API that will retrieve meshes from ROS packages that are built within MoveIt Studio. As such, you can now include any custom ROS description packages containing these meshes through binary (apt) installs or from source in your MoveIt Studio User Workspace.

If you were manually copying mesh files in previous versions, you no longer need to copy those models to your $HOME/.local/share/moveit_studio/ui_resources directory on fresh installations.

The only exception to this rule is if you are rendering a custom gripper model for use in UI widgets such as trajectory previews, interactive markers, etc. In this case, you must still include the gripper meshes in the $HOME/.local/share/moveit_studio/ui_resources/assets/grippers directory.