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The MoveIt! Motion Planning Framework

This is the new unified repository for MoveIt! code. For more information about MoveIt! see moveit.ros.org.

Travis - Continuous Integration Coveralls - Coverage
Build Status Coverage Status
ROS Buildfarm Trusty Devel Source AMD64 Trusty Debian
moveit_core Build Status Build Status
moveit_ros Build Status Build Status
moveit_ros_benchmarks Build Status Build Status
moveit_ros_benchmarks_gui Build Status Build Status
moveit_ros_manipulation Build Status Build Status
moveit_ros_move_group Build Status Build Status
moveit_ros_perception Build Status Build Status
moveit_ros_planning Build Status Build Status
moveit_ros_planning_interface Build Status Build Status
moveit_ros_robot_interaction Build Status Build Status
moveit_ros_visualization Build Status Build Status
moveit_ros_warehouse Build Status Build Status
moveit_planners Build Status Build Status
moveit_setup_assistant Build Status Build Status
moveit_plugins Build Status Build Status
moveit_ikfast Build Status Build Status
moveit_commander Build Status Build Status

About The Merged Repos

The automated script for merging repos is located here. To copy your code changes on your own machine into the same unified structure, simply copy the previously separated packages as subfolders in this new unified repository.

Currently, this repo builds successfully in Kinetic.

Install

Ubuntu Debian

Note: this package has not been released yet otherwise use: sudo apt-get install ros-kinetic-moveit-desktop-full

Build from Source

To build this package in a new workspace:

mkdir -p ws_moveit/src
cd ws_moveit/src
wstool init .
wstool merge https://raw.githubusercontent.com/orajput/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro kinetic
# In ROS Kinetic and Ubuntu 16.04, the above command produces an error 'moveit_commander: No definition of [python-pyassimp] for OS version [xenial]'. Run 'sudo apt-get install python-pyassimp'. However, this error will continue to  persist. 
cd ..
catkin build

Build with Docker in a Container

A Docker container is available for testing in moveit_docker

Latest MoveIt! Branches (some may not be Kinetic yet)

Repo Latest Branch
core kinetic-devel-synced (davetcoleman)
ros cbrew_warehouse_ros_refactor-fixed2 (davetcoleman)
planners kinetic-devel-cpp11 (davetcoleman)
plugins jade-devel
setup_assistant jade-devel
commander jade-devel
ikfast kinetic-devel
resources master
experimental master
docs kinetic-devel
msgs jade-devel
srdfdom indigo-devel
warehouse_ros jade-devel
manipulation_msgs hydro-devel
household_objects_database_msgs hydro-devel

Contribute

Please send PRs for new helper functions, fixes, etc!

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Experimental unified MoveIt! repo

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