This tutorial will install MoveIt 2 and create a workspace sandbox to run the tutorials and example robot.
Install ROS 2 and Colcon
Install ROS 2 Galactic. It is easy to miss steps when going through the ROS 2 installation tutorial. If you run into errors in the next few steps, a good place to start is to go back and make sure you have installed ROS 2 correctly. One that users commonly forget is to source the ROS 2 install itself.
Unlike ROS 1 setup scripts, in ROS 2 the setup scripts do not attempt to switch what version of ROS you are using. This means that if you have previously sourced a different version of ROS, including from within your
.bashrc file, you will run into errors during the building step. To fix this change what is sourced in your
.bashrc and start a new terminal.
Install rosdep to install system dependencies :
sudo apt install python3-rosdep
Once you have ROS 2 installed, make sure you have the most up to date packages:
sudo rosdep init rosdep update sudo apt update sudo apt dist-upgrade
sudo apt install python3-colcon-common-extensions sudo apt install python3-colcon-mixin colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml colcon mixin update default
Install vcstool :
sudo apt install python3-vcstool
Create A Colcon Workspace and Download Tutorials
For tutorials you will need to have a colcon workspace setup.
mkdir -p ~/ws_moveit2/src
Download MoveIt 2 Tutorials Source
Move into your colcon workspace and pull the MoveIt 2 tutorials source:
cd ~/ws_moveit2/src git clone -b galactic https://github.com/ros-planning/moveit2_tutorials.git vcs import < moveit2_tutorials/moveit2_tutorials.repos
Build your Colcon Workspace
The following will install from Debian any package dependencies not already in your workspace. This is the step that will install MoveIt and all of its dependencies:
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
The next command will configure your colcon workspace:
cd ~/ws_moveit2 colcon build --mixin release
Source the colcon workspace:
Optional: add the previous command to your
echo 'source ~/ws_moveit2/install/setup.bash' >> ~/.bashrc
setup.bash automatically in your
not required and often skipped by advanced users who use more than one
colcon workspace at a time, but we recommend it for simplicity.