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6.3.0

· 2 min read

Major Features​

Enables use of Velocity Force Controller (VFC) as a Velocity-only controller if no force-torque sensor is available.

Other changes​

  • Bumps MoveIt2 dependency to later version with bugfixes.
  • Adds support for multiple keyframes in ros2_mujoco descriptions.
  • Passes robot_description_kinematics to RViz for IK debugging.

Behavior Changes​

  • VFC publishes state and has timeouts for loading robot model.
  • VelocityForceSetpointGenerator exposes scaling factors through ports.
  • LoadObjectiveParameters will fail with an empty file.
  • kMaxEigenVectorCapacity upped from 16 to 32
  • Updated NavigateToPoseAction and NavigateThroughPosesAction Behaviors with an input port flag to ignore the timestamp of the PoseStamped messages that are passed into those Behaviors. Setting this flag to true should stop Nav2 from printing an warning/error regarding extrapolation into the past.

UI Changes​

  • Description and subcategory metadata applied to subtree definitions is now respected in the behavior tree editor sidebar.
  • Offline version handling.

Documentation Improvements​

  • Reorganized docs.picknik.ai documentation into clearer categories.
  • Updated setup instructions for increased clarity.
  • Removed out-of-date document.
  • Additional support for Parallels.
  • Running an Objective documentation accurately reflects v6 UI improvements.
  • Updated documentation regarding when to use the robot_driver_persist_launch_file and simulated_robot_driver_persist_launch_file
  • Updated documentation for tool changing.
  • Added documentation on optional JTAC parameters.
  • Added documentation to the tip_offset input port of the PlanCartesianPathBehavior

Bug Fixes​

  • Request clicked point service no longer stops advertising.
  • Various typos and grammar updates.
  • Renaming a SubTree no longer breaks Objectives containing that SubTree.
  • Cloning and editing a SubTree no longer modifies the original SubTree, breaking some Objectives.
  • Fixes an issue in the simulator preventing use of multiple Force Torque sensors.
  • Bug fix for get clicked point unadvertising irregularly.

Migration Guide​

No steps are necessary to migrate from 6.2 to 6.3.