• Added documentation for launching MoveIt Studio with Gazebo simulation.
• Fixed issues with large joint jumps in MoveIt Servo for the UR5e robots.
• Fixed issues in the Waypoints API and editor.
• Fixed unhandled exceptions in the Objective Server.

• Fixed built-in pick and place Objectives for BT.CPP 4.1.

Changes in This Release​

Major version increase.

• Upgraded to BehaviorTree.CPP 4.1.1.
• Added a new web-bridge for isolated, local MoveIt Studio deployments.
• Added additional tutorials for custom Behavior generation and workspace testing.
• Added support for tuning admittance control parameters to the user interface.
• Added additional Behavior interface base classes for simplifying building of customer Behaviors.
• Added a public MoveIt Studio user workspace.
• Added support for including multiple tree_nodes_model.xml files in user workspaces.
• Added messaging to the user interface for MoveIt Servo statuses (e.g. approaching singularities or joint limits).
• Added an UpdatePlanningSceneService Behavior for improved collision scene monitoring.
• Added a ForEach decorator node for iterating over values in a Behavior Tree.
• Added overlay Docker images and instructions for developing MoveIt Studio Behaviors from containers.
• Added ability to modify the servo speed from the Cartesian and Joint control panels.
• Added support for logging at different levels from Behaviors to the MoveIt Studio user interface.
• Improvements to the Logging panel in the MoveIt Studio user interface.
• Improvements for database synchronization in the Objective Editor.
• Fixed warnings for missing configuration in base and site config parameters.
• Fixed issues related to DDS configuration generation.
• Fixed issues with animations and lagging in the user interface.
• Fixed segfault issues related to Robotiq Gripper connections.
• Fixed issues with the JointTrajectoryController and success criteria in ros2_control Humble.
• Fixed issues related to Behavior Tree layouts in the Objective Editor.