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9.4.1

· 4 min read

Enhancements​

Reference Application Changes​

  • Fixed bin picking in factory_sim to sample grasp yaws and skip unpickable brackets.
  • Fixed the text-prompt segmentation example in hangar_sim to move to the View Boxes waypoint before segmenting.
  • Fixed the Sort Blocks Objective in dual_arm_sim to complete gracefully.

Bug Fixes​

  • Fixed the 3D Visualizer dropping namespace-scoped marker DELETEALL clears when Auto-Clear on Run is disabled, which left stale markers visible.
  • Fixed the example workspace auto-download progress timer so it keeps updating during long Git clone phases.
  • Fixed first-run setup so moveit_pro run downloads the default user workspace when a preserved config file points at a workspace path that no longer exists.
  • Fixed missing color in ROS backend logs from processes launched outside an interactive shell.
  • Fixed the mesh decimation utility to use Trimesh instead of MeshLib, which is no longer installed with MoveIt Pro.
  • Fixed intermittent core Behavior loading failures caused by unresolved stopwatch clock symbols.
  • Fixed Docker image builds so memory-constrained hosts can cap both per-package compiler jobs and colcon package-level parallelism.
  • Fixed moveit_pro configure repeatedly prompting users to add system-managed environment variables such as MOVEIT_DOCKER_TAG to their configuration.
  • Fixed a false crash message when stopping MoveIt Pro with Ctrl-C during normal shutdown.
  • Fixed the first-install configuration flow so MoveIt Pro no longer prints a missing license-key error before prompting the user for their license key.
  • Fixed a hang where running two GetPointsFromUser prompts back-to-back left the second prompt unresponsive; consecutive point prompts now each render and accept their own selection.
  • Fixed unavailable action server errors so they include the missing action server name.
  • Fixed first-run setup on NVIDIA hosts without the NVIDIA Container Toolkit so the default user workspace is created before MoveIt Pro stops with a targeted toolkit setup message.
  • Fixed URDF generation failing for planning groups whose links span disconnected branches of the kinematic tree, such as some gripper groups.
  • Fixed the upgrade flow so existing user workspaces are checked and upgraded before MoveIt Pro builds them.
  • Fixed AddURDF silently reporting success when a URDF had a syntax error that dropped geometry; the tool is still added, but MoveIt Pro now warns that geometry was dropped and reports the specific reason.
  • Fixed Ctrl/Cmd-click multi-select in the Behavior Tree editor; holding Ctrl (or Cmd on macOS) and clicking now adds nodes to the selection instead of replacing it.
  • Fixed JSON blackboard values rendering as truncated, unexpandable text; JSON objects now display compactly and can be expanded to view the full value.
  • Fixed AttributeError when setting path_constraints on the MTC (MoveIt Task Constructor) Connect stage from the Python API.
  • Fixed false crash detection when restarting MoveIt Pro after Ctrl-C stops Docker Compose containers.
  • Fixed unbounded Objective Server memory growth when an Objective plans many MTC tasks. The InitializeMTCTask Behavior gains an enable_introspection port (default on); set it to false to free each task's planning data after it plans, trading that task's MTC inspector visibility and detailed failure alerts for bounded memory.
  • Fixed the plan_cartesian_space.py Python example to use the correct PathCollisionInfo attributes (path_index, collision_check_result) and documented how to request collision contact information via collision_check_request.contacts.
  • Fixed several controller crashes triggered by oversized planning groups and malformed or oversized commands and parameters. Planning groups of up to 64 joints (previously 32) now load, and inputs that exceed the supported size are rejected with a clear error instead of crashing the controller.
  • Fixed the streaming point cloud holding on to its raw data subscription when no client was watching it, wasting memory.
  • Fixed a memory leak where viewing the 3D point cloud caused unbounded memory growth in the main robot process; point-cloud processing now runs in a separate, memory-bounded container.
  • Fixed a phantom new_port error that could block building an Objective when a Subtree had an unconfigured placeholder port — the port appeared nowhere on disk or in the Ports panel yet failed verification as an unremapped mandatory port.
  • Fixed the runtime Behavior Tree viewer not showing a Subtree's name when it had a comment; it now shows both the Subtree name and its comment, matching the editor.
  • Fixed the Behavior Tree editor's Name / Comment field dropping spaces, so multi-word comments can now be typed.
  • Fixed a Behavior Tree node overlapping the node below it when a comment grew it to a second line in the editor; the tree now re-spaces immediately instead of only after leaving edit mode.
  • Fixed the Interactive Marker snapping back to the robot's pose when grabbing it for another move during teleoperation, and trajectory previews targeting the previous pose when the marker was moved again before planning finished.
  • Fixed the semi-transparent preview gripper in Interactive Marker teleoperation rendering with opaque white collision geometry.