You are on the older and stable ROS Kinetic version of the tutorials. We recommend this for beginners, though it does not install from binary for Ubuntu 18.04. For the latest, see ROS Melodic tutorials (Requires Ubuntu 18.04). For older computers on Ubuntu 14.04 see ROS Indigo tutorials with the PR2.
Install ROS and Catkin¶
Install ROS Kinetic. It is easy to miss steps when going through the ROS 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 correctly.
Once you have ROS installed, make sure you have the most up to date packages:
rosdep update sudo apt-get update sudo apt-get dist-upgrade
Install catkin the ROS build system:
sudo apt-get install ros-kinetic-catkin python-catkin-tools
The simplest way to install MoveIt! is from pre-built binaries (Debian):
sudo apt install ros-kinetic-moveit
Advanced users might want to install MoveIt! from source.
Download the Example Code¶
Within your catkin workspace, download these tutorials:
cd ~/ws_moveit/src git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git
You will also need a
panda_moveit_config package to follow along with these tutorials:
git clone -b kinetic-devel https://github.com/ros-planning/panda_moveit_config.git
For now we will use a pre-generated
panda_moveit_config package but later we will learn how to make our own in the MoveIt! Setup Assistant tutorial.
Build your Catkin Workspace¶
The following will attempt to install from Debian any package dependencies not already in your workspace:
cd ~/ws_moveit/src rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
The next command will configure your catkin workspace:
cd ~/ws_moveit catkin config --extend /opt/ros/kinetic catkin build
Source the catkin workspace:
Add the previous command to your
echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
setup.bash automatically in your
not required and often skipped by advanced users who use more than one
Catkin workspace at a time, but we recommend it for simplicity
Open Source Feedback
See something that needs improvement? Please open a pull request on this GitHub page