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2.10.0

· 3 min read

Changes in This Release​

  • New and modified perception Behaviors:
    • RegisterPointClouds - Finds the pose of a target point cloud relative to another point cloud using the Iterative Closest Point (ICP) algorithm.
      • GetGraspableObjectsFromMasks3D - Outputs a GraspableObject for each point cloud fragment represented by a 3D mask.
      • LoadPointCloudFromFile - Now supports loading point clouds in either .pcd or .stl formats.
  • New MoveIt Task Constructor Behaviors and Functionality:
    • SetupMTCAttachObject and SetupMTCDetachObject - Can be used to attach or detach a GraspableObject from the planning scene to a robot frame.
      • SetupMTCUpdateObjectCollisionRule - Enables adjusting collision rules between GraspableObjects and other entities in the planning scene.
      • Add additional logging for error states when initializing MTC tasks.
      • Better error handling for misconfigured planning groups in MTC Behaviors.
  • Improvements to Cartesian Path Planning:
    • Additional information on Path IK failures will be logged to the MoveIt Studio console.
      • PlanCartesianPath and ValidateTrajectory - Will always return a complete or partial debug solution for use in trajectory previews.
      • Refer to the Cartesian Path Following tutorial for additional information.
  • Updates to Manual Control and teleoperation:
    • Pulled in additional fixes and upgrades for MoveIt Servo that may require updates to configuration packages.
      • Added support for switching planning groups when Teleoperating.
  • New user guides for connecting MoveIt Studio to hardware:
  • Removed some hardware drivers from core MoveIt Studio binary images.
  • Removed experiemental TAMP Behaviors previously added in 2.8.0.
    • Please contact us if you require access to Behaviors such as GetPlanUsingTAMP or CreateBehaviorTreeFromTaskPlan.
  • UI Updates:
    • Tweaked color schemes for W3C compliance for color-blindness.
      • Adjusted Joint Sliders in the Manual Control tab to support prismatic joints.
      • Port descriptions for Behaviors are now shown in the Objective Editor's sidebar.
      • Added navigation between the Behavior Tree status window directly to the Objective Editor.
      • General improvements for nested subtrees.

Migration Guide​

Move Robotiq Drivers out of Core MoveIt Studio​

The ROS 2 Robotiq Gripper Drivers were included in previous versions of MoveIt Studio. Robot configuration packages requiring access to a Robotiq Gripper must now include those hardware interfaces to be built in the user mounted workspace.

For example, the standard Universal Robots configuration package has included the drivers as a submodule.

Additional Updates Changes in MoveIt Servo​

To enable switching planning groups when using Endpoint or Joint control we use the latest version of MoveIt Servo for Manual Control.

As of 2.10.0, any group defined in your SRDF that defines a serial manipulator with sufficient degrees of freedom can be enabled from the manual control tab. Most importantly, the planning and end-effector frames are now determined automatically from the joint model groups in the SRDF, so the planning_frame, ee_frame, and robot_link_command_frame parameters are no longer required. We strongly recommend auditing your configuration package's Servo parameters to ensure accuracy and relevance.

For example, refer to the Universal Robots package's Servo Configuration. For additional information refer to the MoveIt Servo parameters file.