MoveIt Tutorials

These tutorials will step you through using and learning the MoveIt Motion Planning Framework.

In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that has already been configured to work with MoveIt - check the list of robots running MoveIt to see whether MoveIt is already available for your robot. Otherwise, you can setup MoveIt to work with your custom robot in the tutorial section “Integration with a New Robot”, below.

Getting Started with MoveIt and RViz

• Getting Started
• MoveIt Quickstart in RViz

MoveGroup - ROS Wrappers in C++ and Python

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.

• Move Group C++ Interface
• Move Group Python Interface
• MoveIt Commander Scripting

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 ROS API
• Motion Planning API
• Motion Planning Pipeline
• Visualizing Collisions
• Time Parameterization
• Planning with Approximated Constraint Manifolds
• Pick and Place Tutorial

Integration with a New Robot

Before attempting to integrate a new robot with MoveIt, check whether your robot has already been setup (see the list of robots running MoveIt). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt (and share your results on the MoveIt mailing list)

• MoveIt Setup Assistant
• URDF and SRDF
• Low Level Controllers
• Perception Pipeline Tutorial
• IKFast Kinematics Solver
• TRAC-IK Kinematics Solver

Configuration

• Kinematics Configuration
• Fake Controller Manager
• Custom Constraint Samplers
• OMPL Planner
• CHOMP Planner
• STOMP Planner
• Pilz Industrial Motion Planner
• Sequence of multiple segments
• Planning Adapter Tutorials

Miscellaneous

• Joystick Control Teleoperation
• Benchmarking
• Integration/Unit Tests

Attribution

Major contributors to the MoveIt tutorials are listed in chronological order: Sachin Chitta, Dave Hershberger, Acorn Pooley, Dave Coleman, Michael Gorner, Francisco Suarez, Mike Lautman. Help us improve these docs and we’ll be happy to include you here also!

The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with PickNik (Check out the blog post!)

Open Source Feedback

See something that needs improvement? Please open a pull request on this GitHub page