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7.5.0

· 4 min read

Major Features​

Tool for Decimating Meshes to Speed Up Performance​

Tool for Decimating Meshes to Speed Up Performance

MoveIt Pro now includes a new tool for decimating meshes to increase performance of collision checking and simulation. See the Simulation Troubleshooting Guide for usage details.

UI Improvements to Joint Control​

UI Improvements to Joint Control

The joint control spinner user inputs are now always present and don't require a click to enter into them. They are also refreshed with updated styling and they have been moved into the side bar.

Text Markers support in UI​

Text Markers support in UI

You can now publish text markers in our visualizer, to better help understand and debug your robotics system.

Enhancements​

UI Changes​

  • The default ground plane in the visualization is now hidden if your robot has a visible occupancy grid, to avoid graphical artifacting from two planes at Z=0.
  • When disabling collision checking, the UI now displays a warning and an explanation of which controls are affected.
  • Reworded the "Cancel" button when running an objective to make it clearer when an objective will be canceled when pressing the button.
  • The buttons in pose jog are now color-coded to make it clearer which axis is being translated or rotated when jogging in a view other than a wrist camera stream.

Reference Application Changes​

Other New Behaviors​

  • Added a RecordJointTrajectory Behavior which allows you to record the joint states of a given planning group as a JointTrajectory message.

Behavior Changes​

  • Default name for breakpoint subscriber topic is changed from /studio_breakpoint to /moveit_pro_breakpoint
  • The SwitchUIPrimaryView behavior no longer throws an error when a topic does not exist yet, and instead displays a placeholder while waiting for the topic to become available.
  • SetupMTCCurrentState no longer makes a collision check. Planners downstream in the pipeline are responsible for this. The skip_collision_check input port is kept for backwards compatibility, but it is now ignored and will be fully removed in the next major release.

Bug Fixes​

  • Fixed an issue where visual materials in Collada files in URDFs were incorrectly converted between colorspaces.
  • Fixed a visual bug in the UI when rendering arrow markers with multiple points.
  • The dropdown of suggestions on an IN/OUT port containing a blackboard variable no longer steals your keyboard focus while typing.
  • Fixed an issue where the objective execution status would not show while execution was backgrounded by navigating to the Build tab.
  • Objectives are now sorted the same way in the favorites bar as in the sidebar.
  • Fixed a bug where modifying an objective would not cause subtree references to that objective to appear updated in the editor.
  • The UI now correctly uses port 80 to proxy rosbridge communication instead of requiring port 3201 to be exposed.
  • Fixed a bug where failure to load a mesh referenced by a URDF file would cause the UI to hang silently instead of displaying an error message informing the user which mesh failed and why.
  • Fixed an issue where subtrees created using the "Convert to Subtree" button would initially appear empty, despite being populated properly when executed.
  • Fixed a bug where subtree XMLs would erroneously have port information in the BehaviorTree element.
  • The interactive marker control generated by the RequestTeleoperation behavior now properly disappears when the teleoperation request ends.
  • Fixed a broken link to the release notes when clicking the MoveIt Studio version in the help menu.
  • Waypoints are now sorted when written to disk. Version control diffs of the waypoints yaml file should now be more readable.
  • Fixed an issue where planning with MTC to the exact state where the robot is already at would trigger an error.
  • Fixed an issue where "Resume" button could stick around after advancing through all breakpoints in a behavior tree.
  • Fixed a bug where host NVIDIA resources were not properly initialized in the Docker container for the drivers service, causing issues with GPU acceleration.
  • Invalid configuration package names are not accepted when using moveit_pro configure, users will be asked to re-enter the name if the package cannot be found.