Skip to main content

7.4.0

· 4 min read

Major Features​

Blackboard Introspection Viewer​

Blackboard Introspection Viewer

Based on a large amount of customer demand, we’ve added a new view pane in the "Run" tab that allows users to introspect the variable value contents of the blackboard.

Behavior Tree Port Autocomplete​

Behavior Tree Port Autocomplete

Now when editing an Objective in the Build tab, the input and in/out ports will now provide a drop down of autocompletion suggestions based on the presence of output and in/out ports in the objective.

Navigation Path Visualizations

Extending our existing Nav2 support, MoveIt Pro now has the ability to visualize a generated navigation path in the "Run" tab visualization panel.

Enhanced Behavior Tree Viewing at Runtime​

Now when running an Objective, watching the live status of Behavior Trees is more manageable with the ability to collapse and expand subtrees in the Behavior Tree Status panel. This allows you to specify how much of a large Behavior Tree to monitor.

New Example Robot Configs​

Checkout these new robot worlds to explore the full possibilities of MoveIt Pro:

Hangar Sim​

Mobile manipulator moving cargo boxes in an airplane hangar.

moveit_pro run -c hangar_sim

Grinding Sim​

Engine block machining example with PushCorp end effector on UR10e.

moveit_pro run -c grinding_sim

Space Satellite Sim​

Client and servicer space vehicles performing grappling operation.

moveit_pro run -c space_satellite_sim

Enhancements​

UI Changes​

  • Add ability to visualize LINE_STRIP markers
  • Adds a modal at startup for free trial users that specifies the remaining trial period and limitations of the free trial.
  • The state of the Nav2 visualization menu is now saved
  • Renamed option "Save Position" to "Overwrite Joint Position" in the Waypoint menu
  • Removed the behavior type filters from the search in the sidebar in the Build tab, as they were not frequently used.
  • Repositions user prompts over camera streams to not be over center of image
  • Removes display of the algorithms used from trajectory approval prompts, as most users are now declaring their planners in their behavior trees and can see the planner in the status viewer.

New Behaviors​

  • The WaitForUserPathApproval Behavior visualizes a nav_msgs/Path message in the UI, giving the user the opportunity to either accept or reject the path. Try it out in the hangar_sim MoveIt Pro configuration.
  • Added SetupMTCMultiEEFMoveAlongAxis behavior, for adding a "Move along frame axis" task to an MTC pipeline for multiple end-effectors.

Documentation Improvements​

Other Improvements​

  • Refine moveit_pro command line tool error output and print exceptions in red.

Bug Fixes​

  • Fixed a bug where UI layouts would erroneously persist between different robot configurations
  • Fixed an issue where the suggested connection for a new node in the Build tab would not appear if the potential parent node was too wide (i.e. had a long name)
  • Fixed a bug where missing /joint_states while Teleoperating caused the UI to crash instead of displaying a temporary error message.
  • Clicking on an objective search result from the "Run" tab now runs the objective instead of taking you to the builder
  • Fixed an issue where a saved layout containing an image topic that is not present would result in a blank pane that could not be removed.
  • Fixed a bug where editing YAML parameters via the Objective Builder, like admittance control parameters, would not save changes.
  • Fixed a bug where the bottom few pixels of the UI were cut off at certain resolutions.
  • Fixed a crash that sometimes occurs when running objectives.