Migration to 5.0.0
New installation: MoveIt Pro Debian Package
Starting with version 5.0.0, MoveIt Pro is now available as a Debian package.
The installer will make the moveit_pro
command available in your terminal, which can be used to run the MoveIt Pro tool.
MoveIt Pro is now installed system-wide, and the user workspace is located in the ${HOME}/moveit_pro
folder.
Removed .env file
The .env
file has been removed from the MoveIt Pro tool in version 5.0.0.
You can configure your MoveIt Pro installation with help of the moveit_pro configure
command,
which will ask you for the necessary information and write it to the configuration file.
You can also manually edit the configuration file located at ${HOME}/.config/moveit_pro/moveit_pro_config.yaml
.
Removed tree_nodes_model.xml
The tree_nodes_model.xml file that previously had to be manually created and maintained for all Behaviors is now auto-generated.
The auto-generated file is located at ${HOME}/.config/moveit_pro/${STUDIO_CONFIG_PACKAGE}/auto-created/generated_tree_nodes_model.xml
.
Behaviors now need the following to ensure they’re a part of generated_tree_nodes_model.xml:
- a
static BT::KeyValueVector metadata()
method needs to be added to the Behavior class’ public API. - in
static BT::PortsList providedPorts()
, add a default value and port description for each port definition.
Here is an example c++ implementation for a Behavior called MyBehavior
, which has the following ports:
- input port named
text_in
of typestd::string
- output port named
num_out
of typeint
BT::KeyValueVector MyBehavior::metadata()
{
return { { "subcategory", "Custom Behaviors" }, { "description", "This is a Behavior that takes in a string and outputs an int." } };
}
BT::PortsList MyBehavior::providedPorts()
{
return { BT::InputPort<std::string>("text_in", "default value for port text_in", "Description of port text_in"),
BT::OutputPort<int>("num_out", 5, "Description of port num_out") };
}
Dependency Changes for Debian Users
For RTPC Debian machine users running into a runtime moveit-pro : Depends: python3-typer
error, enabling bulleseye-backports will resolve the issue:
echo "deb http://deb.debian.org/debian bullseye-backports main contrib non-free" | sudo tee -a /etc/apt/sources.list
moveit_pro command improvements
In previous releases, the MoveIt Pro tool was launched from the installation directory by running the ./moveit_pro
or ./moveit_studio
command.
Starting with version 5.0.0, the tool is now launched by running the moveit_pro
command in your terminal from any directory.
Type moveit_pro --help
for guidance on command line usage
To reference the changes made to the example workspace between 4.0.1 and 5.0.0, visit https://github.com/PickNikRobotics/moveit_studio_ur_ws/compare/4.0.1…5.0.0.