Documentation Version

You're reading the documentation for the non-stable development version of MoveIt 2. For the stable, released version, please have a look at Humble.

How To Generate API Doxygen Reference Locally

Run doxygen in the root of the moveit2 repository.


  • Install doxygen and graphviz:

sudo apt-get install doxygen graphviz


  • Navigate to the moveit2 repository:

cd ~/ws_moveit/src/moveit2
  • Run reference generation command with desired output directory path:

  • The documentation entrypoint in a browser is index.html which you can access with:

firefox ~/docs/index.html