Documentation Version

You're reading the documentation for a version of MoveIt 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Humble.

How To Generate API Doxygen Reference Locally

Run doxygen in the root of the moveit2 repository.


  • Install doxygen and graphviz:

sudo apt-get install doxygen graphviz


  • Navigate to the moveit2 repository:

cd ~/ws_moveit/src/moveit2
  • Run reference generation command with desired output directory path:

  • The documentation entrypoint in a browser is index.html which you can access with:

firefox ~/docs/index.html