You're reading the documentation for an untested version of the tutorials that is largely a copy of the tutorials from MoveIt on ROS 1 Noetic. This is here because it contains useful information, albeit incomplete and often misleading. For the latest released version, please have a look at Foxy.

Getting Started

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 Foxy. 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.

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:

rosdep update
sudo apt update
sudo apt dist-upgrade

Install Colcon the ROS 2 build system:

sudo apt install python3-colcon-common-extensions

Install vcstool :

sudo apt install python3-vcstool

Create A Colcon Workspace and Download MoveIt 2 Source

These tutorials rely on the ROS 2 project MoveIt 2, which can be built from source or installed from binaries. Please make sure you install or build MoveIt 2 for your distribution of choice by following the instructions from the official MoveIt website. For tutorials you will need to have a colcon workspace setup. If you already have a colcon workspace by building MoveIt 2 from source skip the following, else create a workspace:

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
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:

rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

The next command will configure your colcon workspace:

cd ~/ws_moveit2
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Source the colcon workspace:

source ~/ws_moveit2/install/setup.bash

Optional: add the previous command to your .bashrc:

echo 'source ~/ws_moveit2/install/setup.bash' >> ~/.bashrc


Sourcing the setup.bash automatically in your ~/.bashrc is not required and often skipped by advanced users who use more than one colcon workspace at a time, but we recommend it for simplicity.