Migration to 5.1.0

Launch Changes

The Docker service when you start MoveIt Pro will now launch the agent_bridge.launch.xml file located in your configuration package. Ensure it exists and contains the following launch files to bring up the necessary MoveIt Pro packages:

<launch>
    <include file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"/>
    <include file="$(find-pkg-share moveit_studio_rest_api)/launch/rest_api.launch.xml"/>
</launch>

An example launch file can be found in our UR workspace.

Removed cameras.yaml

  • MoveIt Pro no longer automatically launches RealSense cameras defined in a cameras.yaml. Camera drivers can be launched by including a ROS 2 launch file in agent_bridge.launch.xml. MoveIt Pro provides an migration script to automatically generate a cameras.launch.xml launch file and add it to agent_bridge.launch.xml if your site config uses camera.yaml file for RealSense cameras.
  • The ROS 2 Realsense packages no longer comes installed in MoveIt Pro by default. Remember to add this dependency to your package.xml and perform a moveit_pro build to install the additional dependency in your MoveIt Pro Docker overlay image.

Add the following to your package.xml

<exec_depend>realsense2_description</exec_depend>
<exec_depend>realsense2_camera</exec_depend>

Removed deprecated GetXFromUser behaviors

Behaviors GetPoseFromUser and GetIntFromUser have been removed. The AdjustPoseWithIMarker behavior can be used for the same intent

Behavior port changes

  • SetupMTCUpdateGroupCollisionRule behavior no longer reads in parameters from a YAML file. It can be directly set in the behavior’s ports
  • Objectives that contain unset (default value) ports should no longer be used in your behavior XML files unless you explicitly intend to use an empty string. Any behaviors that contain a port_key=”” within the XML tag should have the key and value removed. Defaults are set in the behavior implementation.

Waypoint changes

  • Waypoints now support multiple joint groups. If all your previous waypoints are for a single joint group, add the following to each entry in you waypoints.yaml:
joint_group_names:
  - your_joint_group

In the UR configuration, the joint group is called manipulator and the addition can be seen here

  • MoveToWaypoint no longer exists as a behavior node, it can be used as a subtree:
    Remove <Action ID=”MoveToWaypoint” planning_group_name=”manipulator” … and replace it with <SubTree ID=”Move to Named Pose” joint_group_name=”manipulator” …

To reference the changes made to the example workspace between 5.0.1 and 5.1.0, visit https://github.com/PickNikRobotics/moveit_studio_ur_ws/compare/5.0.1…5.1.0.