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8.5.0

· 2 min read

Major Features​

Enhanced Visualize Pose Markers​

Enhanced Visualize Pose behavior to display text information in Marker messages for improved debugging and visualization.

Enhanced Visualize Pose behavior

Execute Trajectories with 180 Deg Turns​

MoveIt Pro now supports executing trajectories that make 180 degree turns, which is common in MTC solutions. So you can now use ConvertMtcSolutionToJointTrajectory and execute the resulting trajectories with ExecuteFollowJointTrajectory, even if those contain 180 degree turns.

Execute Trajectories with 180 Deg Turns

UI Changes​

  • MoveIt Pro browser tabs now have more descriptive titles to aid in multi-tasking.
  • Plus buttons on Control and Decorator nodes in behavior trees will no longer show unless they are connected to the graph

Documentation Improvements​

  • Refactored Tutorial 2 (Runtime SDK & Extensions) to be much more interactive and beginner-friendly with improved hands-on examples.
  • Refactored Tutorial 4 (Motion Planning) to be more interactive with improved hands-on examples.
  • Added documentation for benchmarking AprilTag pose detection accuracy using the new april_tag_sim configuration.
  • Added Franka Research 3 (FR3) Hardware Setup Guide.

Bug Fixes​

  • Fixed an issue where newly added behavior tree nodes would persist in the underlying XML document. The visual state, XML document, and saved state are now properly synchronized during undo/redo operations.
  • Fixes issue where renaming an objective used as a subtree in other objectives did not reflect new name in other objectives until reloaded
  • Removed an unintended 40-character limit on Objective names when creating or editing Objective details.
  • Fixed an issue where the initial navigation to the Run tab when loading MoveIt Pro created two entries in browser history.
  • Fixed example workspace incorrect git version detection when multiple tags are associated to the same commit.
  • Fixed a bug where planning scene information wasn't being added to the MTCSolution provided by ValidateTrajectory
  • Fixed a bug where the right-hand handle on behavior tree nodes was sometimes unusable to create connections.
  • Fixed an issue where unconnected nodes in behavior trees would be removed when adding new nodes via the Plus button.
  • Debug MTC solutions generated by PlanCartesianPath now properly include the start scene.
  • Print out more details if Clipseg fails to initialize with "Failed to initialize the clipseg interface..." error message.