Documentation Version

You're reading the documentation for a stable version of MoveIt that is not being developed further. For information on the recommended version, please have a look at Main.

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.


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