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7.7.0

· 3 min read

A small release before the upcoming 8.0 release...

Enhancements​

UI Changes​

  • No longer show "+n More" ports button as clickable in the status Behavior Tree pane
  • Renamed the "Success" button to "Continue" to better reflect its function of proceeding with the objective execution.

Reference Application Changes​

  • Various improvements to multi_arm_sim example robot_config

Behavior Changes​

  • PlanToJointGoal and its MTC-equivalent SetupMTCPlanToJointState now have a new port called seed that allows you to specify the seed for the random number generator used during path planning. The same seed number will generate the same results for the same input parameters. This can be used to explore other solutions if the one found by the planner with the default seed is not satisfactory.
  • Removed SetupMTCGraspAndTwistThenMoveAlongArcPush and SetupMTCGraspThenMoveAlongArcPull Behaviors. These can be replicated as Objectives using existing Behaviors.
  • Updated SetupMTCApproachGrasp, SetupMTCConnectWithTrajectory, SetupMTCMoveToJointState, SetupMTCMoveToNamedState, SetupMTCMoveToPose, SetupMTCPickFromPose, SetupMTCPickObject, and SetupMTCPlaceFromPose to use ProRRT by default.
  • SetupMTCApproachGrasp now exposes link_padding as a parameter for use with ProRRT.

Documentation Improvements​

  • Clarified how to interact with IMarker in "Basic Usage" tutorial and fixed typo
  • Updated "Basic Usage" tutorial to show updated PoseJog d-pad screenshot

Bug Fixes​

  • Fixed an issue where the gamepad support in Pose Jog mode of Teleoperate was not respecting analog trigger inputs on capable controllers.
  • Some topic subscriptions in the UI were erroneously using ROS 1 message types. They have been updated to use ROS 2 message types.
  • Fixes inability to interact with "Markers" dropdown menu when it was in a bottom pane.
  • It should no longer be possible to navigate away from an objective with unsaved changes.
  • Fixed a bug where an objective might revert to an earlier state in the editor when clicking "Done" or "Convert to Subtree".
  • Fixes issue where trying to scroll through a port dropdown in the Behavior Tree editor would instead zoom.
  • Fixed a bug where running moveit_pro dev after changing the workspace Dockerfile doesn't use an updated version of the image.
  • Fix issue in moveit_pro configure where available robot configs were not being displayed.
  • Fixes issue where log level preferences were not being saved to local storage
  • Fixed a dependency issue on Debian Bookworm.
  • Fixes a issue in the Joint Trajectory with Admittance controller (JTAC) that could cause a deadlock when loading the controller.
  • Fixed issue where IOController claimed more command interfaces than specified
  • Fixes bug that wouldn't allow you to add a port whose name starts with another port's name
  • Fixed issue with double titles in documentation