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7.2.0

· 3 min read

New Behaviors​

  • The GetOdom behavior subscribes to an odometry message and stores it on the blackboard.
  • The ComputeVelocityToAlignWithTarget behavior calculates a Cartesian control velocity to move a given 'end-effector' link towards a target. The output velocity is a sum of the target velocity and a 'catchup' velocity, so this Behavior can be used to align to and grasps objects in motion, in combination with a Cartesian Velocity controller (e.g. VFC) or Servo.
  • The IsPoseNearIdentity behavior checks if a pose is within the position and rotation tolerances of the identity pose. Useful for evaluating an error pose.

UI Changes​

  • If the robot is initially in collision when PlanToJointGoal is run, contacts will be displayed as red spheres in the visualization pane.
  • Added more options to the Convert To Subtree menu in the Build tab.
  • Collision objects generated by the "add keepout zone" button now have user-readable IDs to make collision check errors more useful.

Other Improvements​

  • Users can now echo the /blackboard_contents topic to view the current state of all blackboard variables, the variable types, and their values.
    • Note: at this time, only generic C++ types, vectors, and PoseStamped ROS messages + its recursive subfields are supported. All other objects on the blackboard will be displayed as "variable_name": null in the /blackboard_contents publications.
  • Improve error message if Pro fails to start because the provided URDF and MuJoCo MJCF model have mismatched actuators. Now the error message will print out the name of the missing/mismatched actuator.
  • Docker container prompts are now more obvious and fun!

Bug Fixes​

  • Fixed a bug where waypoint would show when they're not usable from other telop modes.
  • Fixed a bug where the lifetime of markers published on the /visual_markers topic were computed incorrectly.
  • Fixed a bug where refreshing the Pro UI while running Teleoperate would lead to the objective getting canceled but the UI thinking it was still running.
  • Updates MoveIt2 version to include a fix for deleted objects not having their ACM entries removed.
  • Fixed a bug where expanding and collapsing a subtree will create duplicate nodes that cannot be removed.
  • Fixed a performance degradation when visualizing the Nav2 occupancy grid and/or costmaps in the UI.
  • Fixed a bug where the index output port of the ForEach behavior wasn't accessible.
  • Fixed "pause_servo" timeout that frequently occurs when users first attempt to servo the robot on startup of Pro.
  • Fixed a bug where converting a sequence to a subtree could result in incorrect behavior if the subtree had the same name as an existing objective.
  • Fixed a bug where an error during objective creation when converting a sequence to a subtree still erroneously removed the contents of the sequence instead of letting you try again.