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2.7.0

· 2 min read

Changes in This Release​

  • Simplified installation process by significantly reducing number of prompts in favor of default values.
  • Added configuration variable to toggle whether MoveIt Studio should use a host-mounted DDS configuration file.
  • Behaviors
    • Renamed MoveToJointState Behavior to MoveToWaypoint, as it accepts a Waypoint name as input.
      • New BiasedCoinFlip Behavior to simulate probability of success for testing purposes.
      • New GetMasks2DAction Behavior that sends images to a ROS action server using this GetMasks2D interface for segmentation tasks.
      • Reduce transform lookup errors in FindSingularCuboids Behavior.
  • UI updates
    • Added support for Condition nodes in Behavior Tree editor.
      • Expanding a collapsed Behavior Tree node performs automatic layout only on the expanded nodes.

Migration Guide​

Simplified Installation Process​

The installation process for version 2.7.0 reduces the number of user prompts in favor of default values. This means that, in the majority of cases, you can get started more quickly with MoveIt Studio.

To change your MoveIt Studio configuration, you can still go to your MoveIt Studio installation folder (typically ${HOME}/moveit_studio) and either:

  • Use the ./moveit_studio configure utility and follow the prompts.
  • Make manual modifications to the .env file in that folder.

New USE_HOST_DDS Configuration Variable​

In previous MoveIt Studio versions, the existence of the following environment variables on the host would automatically be mounted into the MoveIt Studio Docker containers:

  • CYCLONEDDS_URI (for Cyclone DDS)
  • FASTRTPS_DEFAULT_PROFILES_FILE (for Fast DDS)

This would sometimes cause unintended changes to the MoveIt Studio DDS configuration.

Starting with version 2.7.0, you must specifically enable this option by using the ./moveit_studio configure utility or by manually setting USE_HOST_DDS=true in your .env file. Otherwise, MoveIt Studio will use default configurations as in previous releases.

MoveToJointState Behavior renamed to MoveToWaypoint​

In version 2.7.0, the MoveToJointState Behavior has been renamed to MoveToWaypoint for clarity. This is because the input to this Behavior is the name of a Waypoint and not an actual joint state specification.

If you are upgrading your robot configuration packages from previous versions, ensure that you make this update in any Objectives that may use this Behavior.