How to Write a MoveIt How-To Guide

This guide explains how to write How-To’s for MoveIt documentation. This guide is primarily intended for use by employees at PickNik Robotics to assist in standardizing how-to documents but can be used by any contributor who wants to submit a new guide. If you are looking for how-to guides for using MoveIt, you can find them here: How-To Guides.

Learning Objectives

  • The type of information that should be included in a how-to.

  • Proper formatting for how-to guides in the MoveIt documentation section.


  • Ubuntu 20.04

  • ROS 2 Galactic

  • MoveIt 2


  1. Fork the MoveIt 2 Tutorials repository and start a new branch with an intuitive name (e.g., jack/how-to-write-how-tos).

  2. Create a new file in the doc/how_to_guides directory with a .rst extension. The title should start with “How to” followed by the specific question being answered (e.g., “How to Write a MoveIt How-To Guide”).

  3. Add a link to your guide on the appropriate how-to guide page:

  4. Write the introduction using reStructuredText (.rst) using the following guidelines:

    • The title should have the same name as the file.

    • The introduction should explain the purpose of this how-to and the intended audience.

    • If you think people may regularly find this particular guide by mistake, add links to the proper resource.

  5. Write the specific learning objectives (i.e., what the reader will know when they finish reading this how-to).

  6. Add any system or equipment requirements for this how-to so users know if this how-to is appropriate for them.

  7. Lay out the individual action steps and do not leave out necessary intermediate steps.

  8. Create a “Further Reading” section that links to amplifying information.

  9. Submit the new page as a PR to the MoveIt 2 Tutorials repository.



<Brief description of the How-To Guide with image or GIF showing the outcome.>

Learning Objectives

<List of things the user will learn.>


<Explanation of what the user should understand. Unlike a tutorial, these guides stand alone and can assume the user has much more background.>


<A list of steps to take to solve the problem.>

Further Reading

<A list of links to related content on and off this website.>

Further Reading