joncppl/moveit2

:robot: MoveIt for ROS 2.0, Beta

The MoveIt Motion Planning Framework for ROS 2. For ROS 1, see MoveIt 1.

Currently we support ROS 2 Eloquent.

Continuous Integration Status

General MoveIt Documentation

• MoveIt Website
• Tutorials and Documentation
• How to Get Involved
• Future Release Dates

MoveIt 2 Specific Documentation

• MoveIt 2 Migration Progress
• MoveIt 2 Migration Guidelines
• MoveIt 2 Development Roadmap

Build from Source

These instructions assume you are running on Ubuntu 18.04.

1. Install ROS2 Eloquent following the installation instructions. Use the desktop installation and don't forget to source the setup script.

2. Install ROS2 Build Tools up until setting up rosdep (we're using slightly different steps for setting up our workspace)

3. Create a colcon workspace:

    export COLCON_WS=~/ws_ros2/
    mkdir -p $COLCON_WS/src
    cd $COLCON_WS/src
   

4. Download the repository and install any dependencies:

    git clone https://github.com/ros-planning/moveit2.git -b master
    vcs import < moveit2/moveit2.repos
    rosdep install -r --from-paths . --ignore-src --rosdistro eloquent -y
   

5. Configure and build the workspace:

    cd $COLCON_WS
    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
   

6. Source the workspace:

    source $COLCON_WS/install/setup.bash
   

Getting Started

We've prepared a simple demo setup that you can use for quickly spinning up a simulated robot environment with MoveItCpp. See the run_moveit_cpp demo package for further instructions and information.