MoveIt Tutorials

These tutorials will quickly get you, and your robot, using the MoveIt Motion Planning Framework.

In these tutorials, the Franka Emika Panda robot is used as a quick-start demo. Alternatively, you can easily use any robot that 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, you can setup MoveIt to work with your custom robot in the tutorial section “Integration with a New Robot”, below.

Getting Started with MoveIt and RViz

• Getting Started
• MoveIt Quickstart in 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.

• Move Group C++ Interface
• Move Group Python Interface
• MoveIt Commander Scripting

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.

• Robot Model and Robot State
• Planning Scene
• Planning Scene Monitor
• Planning Scene ROS API
• Motion Planning API
• Motion Planning Pipeline
• Creating MoveIt Plugins
• Visualizing Collisions
• Time Parameterization
• Planning with Approximated Constraint Manifolds
• Pick and Place
• MoveIt Grasps
• MoveIt Task Constructor
• MoveIt Deep Grasps
• Subframes
• MoveItCpp Tutorial
• Using Bullet for Collision Checking
• Mesh Filter with UR5 and Kinect

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 Discourse Channel)

• MoveIt Setup Assistant
• URDF and SRDF
• Low Level Controllers
• Perception Pipeline Tutorial
• Hand-Eye Calibration
• IKFast Kinematics Solver
• TRAC-IK Kinematics Solver
• OPW Kinematics Solver for Industrial Manipulators
• Multiple Robot Arms

Configuration

• Kinematics Configuration
• Custom Constraint Samplers
• Representation and Evaluation of Constraints
• OMPL Planner
• CHOMP Planner
• STOMP Planner
• TrajOpt Planner
• Pilz Industrial Motion Planner
• Sequence of multiple segments
• Planning Adapter Tutorials
• Warehouse - Persistent Scenes and States

Miscellaneous

• Gazebo Simulation Integration
• Joystick Control Teleoperation
• Realtime Arm Servoing
• Benchmarking
• Integration/Unit Tests
• Debugging Tests

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!)

Open Source Feedback

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