Documentation Version

You're reading the documentation for an older, but still supported, version of MoveIt 2. For information on the recommended stable version, please have a look at Humble.

MoveIt 2 Tutorials

Welcome to the unified MoveIt documentation, which includes tutorials, how-to-guides, core concepts, and more.

MoveIt 2 is the robotics manipulation platform for ROS 2, and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first release in 2019; for ROS 1 documentation, see MoveIt 1 tutorials.

https://moveit.ros.org/assets/images/roadmap.png

In these tutorials, the Franka Emika Panda robot is used as a quick-start demo.

Getting Started with MoveIt and RViz

MoveGroup - ROS Wrappers in C++

The simplest way to use MoveIt through scripting is using the move_group_interface. This interface is ideal for beginners and provides unified access to many of the features of MoveIt.

Using MoveIt Directly Through the C++ API

Building more complex applications with MoveIt often requires developers to dig into MoveIt’s C++ API. As an added plus, using the C++ API directly skips many of the ROS Service/Action layers resulting in significantly faster performance.

Integration with a New Robot

Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been setup (see the list of robots running MoveIt). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt (and share your results on the MoveIt mailing list)

Note: The list of the robots above are for MoveIt, a list is on the works for MoveIt 2.

Miscellaneous

Attribution

Some major past contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman, Tyler Weaver, David Lu!!, Vatan Tezer, and Andy Zelenak. These are just some of the 46+ Contributors over the years who have a big impact on this documentation.

Help us improve these docs and we’ll be happy to include you here also!

Corporate Sponsorship

  • The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik Robotics (Check out the blog post!)

  • The tutorials had another major update in 2022 during a doc-a-thon sponsored by PickNik Robotics