Migration to 5.3.0

Behavior changes

• The Behavior UpdateAdmittanceController has been renamed to SetAdmittanceParameters and updated to interface with a Joint Trajectory with Admittance controller (JTAC). It can be used in combination with ExecuteTrajectoryWithAdmittance to execute a trajectory with admittance control. Any Objectives using the old UpdateAdmittanceController need to be updated to the new name, e.g:

<!-- Old -->
<!-- <Action ID="UpdateAdmittanceController" config_file_name="admittance.yaml"/> -->

<!-- New -->
<Action ID="SetAdmittanceParameters" config_file_name="admittance.yaml"/>

Deprecations

• Interfacing with a ros2_control layered admittance controller is now deprecated. SetAdmittanceParameters can still be used to set parameters in those controllers, but the Joint Trajectory With Admittance controller in MoveIt Pro (JTAC) is now the recommended way to perform admittance control.

Removed dependencies

• MoveIt Pro does not depend on gz_ros2_control, and therefore it is no longer installed in the base image for MoveIt Pro. If you want to include this package in your overlay image, we recommend one of the following two approaches:

  • Clone the version of your choice to your user workspace, and build your workspace using moveit_pro build user_workspace

    • This approach allows full control over the version that is used and provides all the benefits of a source build
    • The moveit_studio_ur_ws was migrated to 5.3 in this way. You can see the changes here.

  • Add the ROS 2 dependency to your configuration’s package.xml and build your Docker overlay using moveit_pro build user_image

    • The upstream dependencies are installed via rosdep, so your image will contain the latest version available through rosdep.