MoveIt! Tutorials

These tutorials will step you through using MoveIt! with your robot. It is assumed the robot you are working with 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, skip to the “Integration with a New Robot” tutorials, below. If you just want to quickly try MoveIt!, use the default Panda robot as your quick-start demo.

Note

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.

To follow along with these tutorials you will need a ROBOT_moveit_config package. This tutorial will use the Panda robot from Franka Emika. To get a working panda_moveit_config package you can install from source, create your own, or install from Debian. We will walk through each method in the following Getting Started tutorial:

Getting Started with MoveIt! and 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!.

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.

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)

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!)

_images/franka_logo.png

Open Source Feedback

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