![MoveIt! Logo](https://camo.githubusercontent.com/bb01e20ec027a3b93d2a837aa74e6d3054f50b406e819d354ca7512f6ca1e9ed/687474703a2f2f6d6f766569742e726f732e6f72672f6173736574732f696d616765732f6d6f76656974325f6c6f676f5f626c61636b2e706e67)
The MoveIt! Motion Planning Framework
Currently we support ROS Indigo, Kinetic, and Melodic.
Travis - Continuous Integration
![Docker Stars](https://camo.githubusercontent.com/c33389df56ceac9708eb3784dd198fcddbbcce37fa8fe4ce01ec7964d504acbe/68747470733a2f2f696d672e736869656c64732e696f2f646f636b65722f73746172732f6d6f766569742f6d6f766569742e737667)
MoveIt! Package |
Indigo Source |
Indigo Debian |
Kinetic Source |
Kinetic Debian |
Lunar Source |
Lunar Debian |
moveit |
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![Build Status](https://camo.githubusercontent.com/54116838e256d4060919e2410d7aa0e8daee5d7e352b70658bbff4b30eb70976/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/8c604bf8c9d733bcad6e108c6ee3acabf2c696e6b83de19ee97fa3d4ddd25d08/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/b4b64c1222974fad094f50e1798408e5f0ef7f1ddce05e5984c0ea6faa8c907f/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/236ee0627f0035172a0b68295a740046c5d6190e1267af60abbcc441f63377f0/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c62696e5f755836345f5f6d6f766569745f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
moveit_msgs |
![Build Status](https://camo.githubusercontent.com/80dc29db8646c35b1da72ea901fb8b28abf6263354f380878796a1ade410c965/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f6d7367735f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/ce60dc8f64f99f0ce64eafde39de2db202042c45432c4d0b181d15e25c3f7058/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f6d7367735f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/9688ff06a31dd581b7902d9429e3aa8560ab08994836b9c8bbae54585d72c379/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/ae72c7fc8d4b423aff58cc820162ec66947939394e643f6b73c8b191c5900aad/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/131519bf1798f74cf04729072a304c642e7911e10725ed2f7608c77e56383d8e/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/72faba56ad0e90bbfe15fb700aad89d10891267d921fc3988b1354d5cd6e1cb1/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c62696e5f755836345f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
moveit_core |
![Build Status](https://camo.githubusercontent.com/d126625dac4b8f0ba4b7675853f9733c7d408c0a59f2a1a6341ea35db7747a0a/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f636f72655f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/60b7d6f4eb7e7b517099fa95a53b7d68bf21c461e6a0ec60f40ed569f34a3aa4/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f636f72655f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/c6db312734fedaadf4902e06f99c709a73a8e3691438ff7bcd1d1081d49349c1/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f636f72655f5f7562756e74755f78656e69616c5f5f736f75726365) |
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![Build Status](https://camo.githubusercontent.com/35c9e2e394c75610ace7e241baa527c2b3b7a347131c8c281857baff268b4f0c/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f636f72655f5f7562756e74755f78656e69616c5f5f736f75726365) |
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moveit_ros |
![Build Status](https://camo.githubusercontent.com/fe4542238987c77c5b268813034613c96aa98cc727d17dbf9b9109dd4ec93624/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/a109611fa1b255150949bbf43b7ce7211e5a231e8132d8872133700efa2c37b6/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f726f735f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/84ce82a511cf2193950870832713f7cd11b1949e481fe7e07cd4d73749ff6320/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f726f735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/6f5936b4e42925a7bbfc890097a776faf0f0a80fb3b14b7e5e2679a756acbe68/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f726f735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/b1ddf9682f6fd1feb355ce2ea2c295dfc386e7978eb38efb49e336e312de411d/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f726f735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/68f93b3831759b47907a536142af40f30941759d57d12a892ceb5013f6a73094/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c62696e5f755836345f5f6d6f766569745f726f735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
moveit_ros_benchmarks |
![Build Status](https://camo.githubusercontent.com/e32ef105f19ed1c5cc04d2485edb4dc31d48ae2c39bac33e2e47d5967733e13c/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/18bf44fd2b59a8e96d592471ed975a3f88062cc4fb820372542119699e046aa5/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/2434d3abbcf4dcfaeb3ae1314c395b2fdcbd8b4756106d6c2bf88fc2b8b8ff9d/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/c8c23a48b52a1bde13f44850c162ff7d4192a1d588c19e91dfbcec5595dee228/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
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moveit_ros_manipulation |
![Build Status](https://camo.githubusercontent.com/ba1c846250c211cb35989be44f672e7595d0a3ba1bc24c8e439b0ebac06d94f7/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f6d616e6970756c6174696f6e5f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/4e7712173ec5f41c047c011e2362e2698e7dde94d0d8b564543714229c42d8eb/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f726f735f6d616e6970756c6174696f6e5f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/34e174880f11a5a5b39c7b90a6befee2e8c61d772d54ceded172c9cf98a3d9a5/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f726f735f6d616e6970756c6174696f6e5f5f7562756e74755f78656e69616c5f5f736f75726365) |
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moveit_ros_move_group |
![Build Status](https://camo.githubusercontent.com/640bf6210d27fd266016ecb5404e44bf8f0d7f493165ce1fd500483498277582/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f6d6f76655f67726f75705f5f7562756e74755f7472757374795f5f736f75726365) |
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moveit_ros_perception |
![Build Status](https://camo.githubusercontent.com/ee9f875233e267b99b0ed11c98cb026e81daec90439461dbb661192ae1c944a5/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f70657263657074696f6e5f5f7562756e74755f7472757374795f5f736f75726365) |
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moveit_ros_planning |
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moveit_ros_planning_interface |
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moveit_ros_robot_interaction |
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moveit_ros_visualization |
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moveit_ros_warehouse |
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moveit_kinematics |
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moveit_planners |
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moveit_planners_ompl |
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moveit_setup_assistant |
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moveit_plugins |
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moveit_commander |
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moveit_visual_tools |
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geometric_shapes |
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random_numbers |
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srdfdom |
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