You're reading the documentation for the non-stable development version of MoveIt 2. For the stable, released version, please have a look at Galactic.
This is a catch-all place for pages that have not yet been updated for the new structure or are still not yet ported from ROS 1.
To migrate these pages into the new structure please see the appropriate pages under Contributing.
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.
- Robot Model and Robot State
- Planning Scene
- Planning Scene Monitor
- Planning Scene ROS API
- Motion Planning API
- Motion Planning Pipeline
- Creating MoveIt Plugins
- Visualizing Collisions
- Time Parameterization
- Planning with Approximated Constraint Manifolds
- Pick and Place
- MoveIt Grasps
- MoveIt Task Constructor
- MoveIt Deep Grasps
- MoveItCpp Tutorial
- Using Bullet for Collision Checking
- Planning For Differential-Drive Mobile Base and an Arm
Integration with a New Robot
Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the list of robots running MoveIt). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt.