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9.4.2

· 6 min read

Enhancements​

Behavior and Library Improvements​

  • The zero_fts service for the velocity force and joint trajectory admittance controllers can now average multiple force/torque samples before applying the sensor offset, preventing a single noisy reading from causing drift in compliant motions. The number of samples is set with the new zero_fts_num_samples controller parameter, which defaults to 10. The sensor can now also be zeroed while the controller is idle.
  • Core Added a pad_self_collisions option to the ProRRT planner through RRTParams.pad_self_collisions and ProRRTPlanner.set_pad_self_collisions. Disable it to stop link_padding from applying to self-collision checks.
  • Added complete /do_objective Software Development Kit (SDK) request payloads, including inline Behavior Tree XML and parameter overrides, to the agent logs.

Reference Application Changes​

  • Fixed the hangar_sim robot configuration package to select Navigation 2 parameters for its ROS distribution, allowing navigation to start on Jazzy while preserving Humble support.
  • Fixed competing transform publishers in the hangar_sim robot configuration package by making robot_state_publisher the sole owner of the ridgeback_base_link transform.
  • Fixed the example workspace installation on Ubuntu 24.04 hosts where the requested user ID was already assigned.

Other Improvements​

  • Added a configurable MoveIt Pro web bridge port so legacy rosbridge integrations can continue using port 3201.
  • moveit_pro run --only-drivers and --no-drivers are now a paired flag; if both are passed, the last one wins instead of exiting with an error.
  • moveit_pro run now rejects --rosbridge-port unless --enable-rosbridge is also passed, instead of silently ignoring the port.
  • Core The license fingerprint now prefers a Trusted Platform Module (TPM) 2.0 endorsement key when one is available and falls back to a permanent hardware network interface. Each computer registers a new activation the first time it starts after upgrading; users of offline activation must request a new activation before MoveIt Pro will start.
  • Added an optional base_link_name hardware parameter to the MuJoCo simulation interface so mobile robots can name the base link explicitly, keeping simulated sensor transforms from conflicting with the robot's transform tree.
  • The moveit_pro_license command-line tool is now available as amd64 and arm64 Debian packages for provisioning licenses and performing offline activation.
  • The MoveIt Pro Runtime image no longer installs the usb_cam driver. A workspace that launches a usb_cam node should declare usb_cam in its robot configuration package's package.xml, allowing rosdep to install it into the workspace image.
  • The MoveIt Pro Runtime image no longer ships FFmpeg or GNU General Public License (GPL) codec libraries. Workspaces that need them can install them in their overlay Dockerfile, subject to the licenses' source-provision obligations for redistributed images.
  • Overlay images that compile against FFmpeg headers must now install them explicitly. See Installation Troubleshooting for the one-command fix.
  • The camera stream server no longer offers the vp8, vp9, and h264 stream types, which required FFmpeg and were not requested by the MoveIt Pro Desktop App. Camera panes are unchanged.
  • OpenCV video input and output now use the GStreamer backend instead of FFmpeg. Reading and writing image files is unaffected; workspaces that open video files or Real-Time Streaming Protocol streams through cv::VideoCapture may see different format support.
  • High Efficiency Image Container decoding is no longer available in Humble images because its decoder is GPL-licensed. AV1 Image File Format and AOMedia Video 1 decoding are unaffected. Jazzy images retain High Efficiency Image Container decoding but no longer include its development headers.

Bug Fixes​

  • Fixed a stale Approve Trajectory prompt that could reappear after stopping teleoperation and reloading the MoveIt Pro Desktop App.
  • Core Fixed a memory leak where each MoveIt Task Constructor (MTC) task permanently retained a full planning scene, which could cause the Objective Server to run out of memory on robots with large collision meshes.
  • Fixed direct execution of Objectives whose Subtree variables have blackboard-variable defaults such as {grasp_pose}; these now report a clear missing-input error instead of passing the literal text to Behaviors.
  • Fixed the blackboard variable dropdown inside a Subtree suggesting the parent-side default binding instead of the Subtree's own variable names.
  • Fixed a turn-rate-dependent odometry lag on mobile bases that degraded lidar localization during turns.
  • Fixed missing Alert History records for Objectives started externally through /do_objective.
  • Fixed Objective names intermittently not appearing for short Objectives started externally through /do_objective.
  • Fixed external version checks and related error notifications when running in playback mode.
  • Core Fixed MTC attach and detach Behaviors reporting success when the operation could not be applied. Planning now fails when the object is missing from the scene, attached to a different link, or has an empty ID, and succeeds without changes when the requested state already holds.
  • Fixed coverage path generation on Arm 64-bit targets such as Jetson, where plain char is unsigned, so zig-zag coverage paths alternate row direction correctly.
  • Fixed waypoint descriptions remaining on screen after the pointer moved away.
  • Fixed Debian package removals and upgrades leaving old MoveIt Pro Docker images and containers on disk.
  • Core Fixed the RViz Motion Planning Tasks panel showing zeroed statistics and missing tasks when RViz starts after an Objective with multiple MTC tasks has already run.
  • Fixed repeated moveit_pro run failures after a service container exited by replacing only containers for services that are not running.
  • Core Fixed closing the RViz window launched by moveit_pro rviz crashing or hanging during shutdown.
  • Core Fixed license activation on computers whose primary network interface is not named eth0, which previously caused machines of the same hardware model to present an identical license fingerprint.
  • Fixed license files with trailing whitespace being rejected by moveit_pro_license.
  • Fixed heap corruption in moveit_pro_license when requesting license activation responses.
  • Fixed moveit_pro_license requests failing with a Transport Layer Security certificate error on hosts installed without recommended packages.
  • Fixed moveit_pro_license --offline failing to write the activation response it had just retrieved.
  • Fixed moveit_pro_license failing to parse offline activation responses returned by the license service.
  • Core Fixed teleoperation being unavailable on robot configuration packages whose planning group includes a linear rail.
  • Fixed MoveIt Pro startup crashes on Jazzy when Navigation 2 and MoveIt Pro require incompatible BehaviorTree.CPP versions.
  • Core Fixed full planning scene updates needing to be applied twice to take effect while planning scene publishing is active, and fixed link-padding changes being silently reverted by the scene publisher.
  • Core Fixed the stage interface-flow arrows rendering incorrectly in the RViz Motion Planning Tasks panel.
  • Fixed Fedora package upgrades leaving Docker images from the previously installed MoveIt Pro version on disk.
  • Core Fixed the MoveIt Pro Core archive failing to install because ros-jazzy-scenario-logging required a package the archive did not contain.
  • Fixed the interactive-marker teleoperation approval prompt flickering and the trajectory preview disappearing after toggling Require Approval off and on and dragging the marker.
  • Fixed Jetson images losing NVIDIA's accelerated OpenCV when FFmpeg was removed from the MoveIt Pro Runtime image.