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7.1.0

· 3 min read

Major Features​

  • ProRRT is now the default sampling-based joint-space planner used in all our example configs. ProRRT generates deterministic paths that are shorter, when compared to OMPL, and take less time to compute. In addition, it allows exposing additional features like velocity /acceleration scaling and link padding. Behaviors using OMPL pipelines have been deprecated.

Other changes​

New Behaviors​

  • Added SetupMTCPlanToJointState and SetupMTCPlanToPose which surface Pro RRT planner configuration parameters on their input ports. SetupMTCMoveToJointState and SetupMTCMoveToPose have been marked as deprecated.

Behavior Changes​

  • Add deprecation warning to SetupMTCMoveToJointState and SetupMTCMoveToPose as they will be removed in future releases and the Pro RRT behaviors SetupMTCPlanToJointState and SetupMTCMoveToPose should be used instead.

UI Changes​

  • Hides non-runnable objectives in the "Run" tab objective list.
  • Makes objectives start when clicked on in the "Run" tab objective list.

Documentation Improvements​

  • Updated "Example UR5 Hardware Setup Guide" to explain which URCaps to install and a note about incompatibility with "Robotiq Gripper" URCap.
  • Updated behavior descriptions which use moveit::task_constructor::stages::ModifyPlanningScene and/or modify the global planning scene.
  • Added state estimation how-to guide.

Other Improvements​

  • Improved the performance of saving objective updates from the UI.

Bug Fixes​

  • Fixed an issue where loading a saved planning scene via the UI could result in the Allowed Collision Matrix (ACM) being cleared.
  • Fixed an issue where errors encountered when converting a sequence to a subtree could be unreadable.
  • Fixed a bug where objectives could fail to be created if your workspace's src directory was not at the top-most level of the folder workspace
  • Fixed bug where suggested nodes in Builder would show as selected

Migration Guide​

  • We are winding down support for OMPL planners in MoveIt Pro in favor of our new Pro RRT planner. The OMPL-based behaviors will be functional while we transition to the new planner, but we encourage users to switch to the new Behaviors as soon as possible. If you are using SetupMTCMoveToJointState or SetupMTCMoveToPose, please switch to SetupMTCPlanToJointState or SetupMTCPlanToPose respectively. The new Behaviors still take planning_group_name and joint_state as inputs, but now also take additional inputs that help you control planning details as joint velocities, accelerations, link padding, etc. These additional inputs are optional and can be left as default values if you don't need them, so the new Behaviors are fully backward compatible with the old ones for most use cases. One exception is if you need to specify planning constraints. Please take a look at this how-to guide for more information on how to set planning constraints, or refer to the Behavior documentation in the UI for details.