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9.4.4

· 3 min read

Enhancements​

Reference Application Changes​

  • moveit_pro_sam3 now downloads the SAM3 (Segment Anything Model 3) models from their upstream release at build time instead of shipping them in the repository. The SAM3 Objectives and Subtrees in lab_sim, hangar_sim, kitchen_sim, dual_arm_sim, picknik_ur_base_config, and franka_base_config load their models from this package. To build without network access, put the four model files in a directory and pass -DSAM3_MODEL_URL=file:///<dir>.

Other Improvements​

  • The moveit_pro command now asks you to accept Meta's SAM License before building the example workspace's moveit_pro_sam3 package, which downloads the SAM3 model at build time. Declining excludes the package from the build so the model is not downloaded. Change the answer later with moveit_pro configure --sam3-license accept or moveit_pro configure --sam3-license decline.

MoveIt Pro Core​

The changes below ship to every MoveIt Pro customer. They are collected here because they also reach MoveIt Pro Core customers, who install the standalone Core archive rather than the full Application Platform, and so are the subset of this release that a Core-only deployment receives.

  • A TPM (Trusted Platform Module) whose endorsement key name uses an algorithm earlier releases did not recognize is now accepted, matching MoveIt Pro 10. Machines that have already activated keep the hardware source they activated with and are unaffected.

Bug Fixes​

  • Fixed misleading remediation for activation-limit, network, and unknown license failures in the Desktop App.
  • Fixed a machine whose data directory cannot be written holding its floating license seat until the lease expired instead of releasing it at shutdown. Core
  • Fixed license deactivation running against a partially configured license client after an earlier activation attempt failed. Core
  • Fixed licensing error messages printing the license key into the log file customers send to support. The offline activation message now names the expected filename pattern and directory instead of the full path. Core
  • Fixed the joint trajectory admittance controller, JointTrajectoryAdmittanceController, refusing to deactivate while a trajectory was executing, which let a robot stopped by its driver (for example on a protective stop) report the trajectory, and the Objective, as succeeded. The controller now aborts the executing goal with INVALID_STATE and deactivates; a SwitchController that deactivates it mid-trajectory succeeds and fails the executing Behavior instead of being refused.
  • Fixed the license fingerprint under WSL2 (Windows Subsystem for Linux 2) changing on every WSL restart. The Runtime now needs networkingMode=mirrored in .wslconfig and Windows 11 22H2 or later to activate a node-locked license under WSL2. An install left in the default NAT (Network Address Translation) mode now fails activation with steps to switch, and a WSL machine activated before this release reactivates once after switching. Core
  • Fixed MoveIt Pro libraries changing their file names on every patch release, which made user workspaces built on an earlier release fail to start with a cannot open shared object file error. After upgrading to this release, rebuild your user workspace once from clean with moveit_pro build user_workspace --colcon-args "--cmake-clean-cache", or delete its build/, install/, and log/ directories before moveit_pro build. Later patch releases do not need this rebuild. Core
  • Fixed a potential crash when requesting a planning scene while the live octomap is being updated. Core