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6.2.0

· 4 min read

Major Features​

Tool changing support​

The ability to plan around collisions and visualize your robot while exchanging tools has been a popular feature request by users. We are pleased to announce support for this use case as well as MoveIt Pro simulator support for modeling tool change devices!

Refer to the new Tool Changing guide to configure this feature in your application.

New moveit_pro dev command​

During the course of development, changes to your MoveIt Pro Docker image or user workspace may cause MoveIt Pro commands such as run to fail in such a way that the container cannot be started. When the container fails to start properly, moveit_pro shell has no container to enter, which can make diagnosing the source of failure difficult.

The new moveit_pro dev command enables you to start and enter a new container without building your user workspace packages or starting any MoveIt Pro services. In scenarios where run fails to start the container, use dev to diagnose the source of failure.

note

You need to define a dev service in your user workspace docker-compose file if not already defined for this service to work. See the dev service definition in the default UR workspace docker-compose.yaml as an example of this.

note

When your MoveIt Pro commands are working correctly, you should still use shell command when you want to enter the container. The dev command starts its own container which by default runs no MoveIt Pro services. If the dev container is present the shell command will open a shell session into it instead of the "agent_bridge" container enabling further troubleshooting or manually launching MoveIt Pro services as needed.

Ubuntu 24.04 (Noble Numbat) support​

MoveIt Pro is now supported on the latest Ubuntu LTS release, 24.04.

As of this release, our supported platforms are

  • Ubuntu 22.04
  • Ubuntu 24.04
  • Debian Bookworm
  • VMware for Windows with Ubuntu 22.04
  • Parallels for OSX with Ubuntu 22.04

Using Parallels for OSX and VMWare for Windows with Ubuntu 24.04 is possible but may require extra setup due to current limitations in Parallels/VMWare out of box support for 24.04.

Other changes​

Behavior Changes​

  • LoadPointCloudFromFile allows specifying the file path either relative to a ROS package or as an absolute path.
  • Adds index output port to ForEach decorator node to enable getting unique IDs for each element.
    • This is useful if you use the ForLoop to create objects and you want to give it a unique name using its index.

UI Changes​

  • Adds "Control Flow" category to all built-in Decorators and Controls behaviors.
  • Removes the top level of folderization of the Behaviors sidebar.
    • Behaviors without subcategory metadata (as explained in the Making a Hello World Behavior guide) will be placed in the Miscellaneous category.

Documentation Improvements​

Bug Fixes​

  • Fixes RCL guard condition failure.
  • Fixes port type in VisualizeMesh.
  • The UI now correctly displays that the contents of a subtree are uneditable without editing the subtree directly.
  • Prints correct config to screen after a launch time config change.
  • Fixes width of Edit Objective menu.
  • Fixes ports being ignored in the wrong place.
  • Fixes missing quaternion in SelectableMarker.
  • Reduced the incidence of erroneous "file conflict" warnings in the Behavior Tree Editor. We expect a complete fix in a later version soon.

Migration Guide​

No steps are necessary to migrate from 6.1 to 6.2.