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8.2.0

· 4 min read

Major Features​

Multi-Window Support​

Feeling crunched on screen space, but have multiple monitors? There is now a "New Window" option in the settings menu that opens MoveIt Pro in a new tab. This is useful, for example, in having one screen for editing and monitoring large Behavior Trees, and a second screen for monitoring camera feeds and visualizations. Note: it is recommended that you don't have the same view pane type open on multiple windows, as there are currently some known limitations.

Full Screen Mode​

There is now a button to switch between full screen and windowed mode in the settings menu, allowing for more screen space and enhancing usage as a robot operator terminal.

Enhancements​

Behavior Changes​

  • GeneratePointToPointTrajectory can now take a target_state that contains a subset of the joints in the planning group. The positions and velocities of all joints not included in the target_state will be set to the start_state values.
  • Add a configurable timeout parameters to the CallTriggerService Behavior.
  • Make waitForServerAvailableTimeout configurable in ServiceClientBehaviorBase through optional getWaitForServerAvailableTimeout function.

Other Improvements​

  • Added a new spline trajectory fitting class that fits piecewise splines to a set of points using convex optimization, and ensures no dynamic memory allocation during optimization or evaluation.
  • Added support for retrieving metadata from ONNX models, including custom metadata entries and model version information.
  • Added moveit_pro_ml::DiffusionPolicy to the moveit_pro_ml package. This class exposes an interface for running a diffusion policy to generate trajectories.
  • Reduces peak VRAM memory consumption when running ML models
  • Bump ROS 2 Humble snapshot to 2025-05-16.
  • The version number for MoveIt Pro is printed to the terminal when moveit_pro run is called.

Bug Fixes​

  • Fixed caching problem causing updated server-side meshes not to appear in the UI.
  • Fixed an issue where deleting a subtree and undoing only adds back the node without its edges.
  • Fixed an issue in the CreateJointState behavior where the created RobotJointState did not contain the names the user specified on the 'names' input port.
  • Fixed an issue where extra binaries were being installed and overwriting parts of our source build, breaking the moveit_core and moveit_ros_planning targets. No migration is required.
  • Fixed large stack traces caused by unhandled exceptions in launch files.
  • The Velocity Force Controller (VFC) now can control chains that don't start at the URDF root. This required adding a new planning_group_name configuration parameter to the VFC config, with the name of the planning group that the VFC will control. This planning group name must be a valid group defined in the SRDF file. The joints config parameter is no longer required, since the VFC will automatically determine the joints from the planning group.
  • Fixed some performance issues in simulation which resulted in TFs being published at a slower rate.
  • Timestamps for image and point cloud messages from simulation cameras are more accurate.
  • Fixed an issue where commands in the MoveIt Pro shell can overwrite characters in the terminal prompt.
  • Fixed an issue where deleting the build artifacts would leave the install artifacts, resulting in a broken state.
  • Fixed an issue where the Rest API failed to format objective XML files and printed "Error formatting XML file..." in the terminal.
  • Fixed issue of marker not appearing in the UI when being added immediately after a marker delete message.
  • Fixed issue where toasts would not immediately clear with dismiss button
  • Fixed zram-config breaking installation despite not being a required package, marking it properly as a recommended package.
  • Fixed Teleoperate settings button in Waypoint control mode - button is now properly disabled and grayed out while remaining visible.
  • RecordJointTrajectory uses the incoming message header for time stamps instead of system time.
  • Fixed issue where keepout zone IMarker would sometimes stop dragging

Migration Guide​

  • The Velocity Force Controller (VFC) config now accepts a planning_group_name parameter, which is the name of the planning group that the VFC will control. The joints and base_link parameters are now deprecated. If your ros2_control.yaml file defines a Velocity Force Controller, please update it to include the planning_group_name parameter. The deprecated joints and base_link parameters will be removed in the next major release.