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MoveIt 2 Documentation
Welcome to the unified MoveIt documentation, which includes tutorials, how-to-guides, core concepts, and more.
MoveIt 2 is the robotic manipulation platform for ROS 2, and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see MoveIt 1 tutorials.
How-To Use This Website
Tutorials will walk you through creating your first project with MoveIt.
How-To Guides answers the question “How to do X with MoveIt?”
Concepts discusses the design of MoveIt.
Contributing is a place to learn about making changes to MoveIt and this website.
Examples contains other useful pages that have not been adapted to the new layout of this site or are not yet ported from ROS 1.
API Documentation will redirect you to a reference API page.
Table Of Contents
- How-To Guides
- API Documentation
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!
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