![MoveIt! Logo](https://camo.githubusercontent.com/f14b29f973749a4a3b404917f7c2bd120f50227004c8a399b412a9411e135517/687474703a2f2f6d6f766569742e726f732e6f72672f6173736574732f696d616765732f6d6f76656974325f6c6f676f5f626c61636b2e706e67)
The MoveIt! Motion Planning Framework
Currently we support ROS Indigo, Kinetic, and Melodic.
Travis - Continuous Integration
Docker Containers
![Docker Stars](https://camo.githubusercontent.com/45d8dad6d9c51d3e88ecfefa893af89cc39a8285b465384e7589b6498314e098/68747470733a2f2f696d672e736869656c64732e696f2f646f636b65722f73746172732f6d6f766569742f6d6f766569742e737667)
ROS Buildfarm
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/fa2f39597e95640194df6eeb571c8cab60deb65bf70c1eb53dd45883e8849334/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/11f30701040aa11c2f4e1fd7b68d95c5dcb6eaeda3065fe9bd2c658b4428f6c6/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/4e1346ed3fec96378015d0a82e07eb0651a28d52c79c5658c2e7a8575ab543a1/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/79453e0e5fee007677b2c6932fc9ecb7dd73d629caa7440421f3a20cd56a6fc4/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c62696e5f755836345f5f6d6f766569745f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
moveit_msgs |
![Build Status](https://camo.githubusercontent.com/7163c7bd080de4509fec5c1a476060199a57ada10f8442c07ec35e9e7e725fec/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f6d7367735f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/b4185fb079dabd00a3b086c66016b685b3f5cde5b07cd08dc679cd34d11332ff/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f6d7367735f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/7ade0ad486bbd17b291e3da32024ff3090bcd4ff92f567525456290988c7dc9d/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/2f7d845b89a43fa8c25f7a436284b4de01329e6ec28aafb78b36cd204795f66f/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b62696e5f755836345f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/9d41a6f632160c11601cc47a008e51ea984c90cb289f1a0e099d012506dece10/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c7372635f75585f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/f30a70f503afbf86dc08ea233b9784e6822c443c41511c5b8c34995ea9191194/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4c62696e5f755836345f5f6d6f766569745f6d7367735f5f7562756e74755f78656e69616c5f616d6436345f5f62696e617279) |
moveit_core |
![Build Status](https://camo.githubusercontent.com/b20d50655ea021f26fdb902cf75e36621055acf0c3125f528664af4bcdf63c67/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f636f72655f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/09ff1f1d3387beb068beca5ed95bf19ab410f765339a797aee00b147a20b3d1b/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f636f72655f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
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moveit_ros |
![Build Status](https://camo.githubusercontent.com/c50f38f263d4c95f0a99ca2a7bfde4a81957b767f0a33304cfcf1f3c54734fd2/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f5f7562756e74755f7472757374795f5f736f75726365) |
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moveit_ros_benchmarks |
![Build Status](https://camo.githubusercontent.com/6f8720a6721a90133d17e7e05f0db14a08e2afb33a682e06d8e2b7b1cb78b279/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f7472757374795f5f736f75726365) |
![Build Status](https://camo.githubusercontent.com/0f3878bdfe29aac6d46576f1aca1901139cfd8ea6a6ac959f44cd896881581c9/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4962696e5f755436345f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f7472757374795f616d6436345f5f62696e617279) |
![Build Status](https://camo.githubusercontent.com/15554a68380c9d36e7448dd453decd89f96003b17cc507794143bc3ac7e3279d/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d4b7372635f75585f5f6d6f766569745f726f735f62656e63686d61726b735f5f7562756e74755f78656e69616c5f5f736f75726365) |
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moveit_ros_manipulation |
![Build Status](https://camo.githubusercontent.com/502f9040bf621e47eb52d90bb588372e091024886761d1e89b19d29a50e2205b/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f6d616e6970756c6174696f6e5f5f7562756e74755f7472757374795f5f736f75726365) |
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moveit_ros_move_group |
![Build Status](https://camo.githubusercontent.com/91afa8ccd86a8a7c8a3ace4631d0ce58c88b52cf114c50df7785ebca1f067dc0/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f6d6f76655f67726f75705f5f7562756e74755f7472757374795f5f736f75726365) |
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moveit_ros_perception |
![Build Status](https://camo.githubusercontent.com/eec54a4cfb1f25b8be67365382a3d4dd9dbccf0d956fbb196e0cb67636213691/687474703a2f2f6275696c642e726f732e6f72672f6275696c645374617475732f69636f6e3f6a6f623d497372635f75545f5f6d6f766569745f726f735f70657263657074696f6e5f5f7562756e74755f7472757374795f5f736f75726365) |
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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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