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2.0.2

· One min read
  • Fixed built-in pick and place Objectives for BT.CPP 4.1.

2.0.0

· 7 min read

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. For more information see the Getting Started page.
  • Added support for tuning admittance control parameters to the user interface. For more information refer to Configure Admittance Control.
  • Added additional Behavior interface base classes for simplifying building of customer Behaviors. For more information refer to the List of Core Behaviors documentation.
  • Added a public MoveIt Studio user workspace. For more information refer to Configuring MoveIt Pro for a Specific Robot.
  • 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. For more information refer to the List of Core Behaviors documentation.
  • Added overlay Docker images and instructions for developing MoveIt Studio Behaviors from containers. For more information see Create Overlay Docker Images.
  • 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.