The MoveIt Motion Planning Framework for ROS 2. For ROS 1, see MoveIt 1.
Currently we support ROS 2 Eloquent.
These instructions assume you are running on Ubuntu 18.04.
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Install ROS2 Eloquent following the installation instructions. Use the desktop installation and don't forget to source the setup script.
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Install ROS2 Build Tools up until setting up rosdep (we're using slightly different steps for setting up our workspace)
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Create a colcon workspace:
export COLCON_WS=~/ws_ros2/ mkdir -p $COLCON_WS/src cd $COLCON_WS/src -
Download the repository and install any dependencies:
git clone [email protected]:ros-planning/moveit2.git vcs import < moveit2/moveit2.repos rosdep install -r --from-paths . --ignore-src --rosdistro eloquent -y -
Configure and build the workspace:
cd $COLCON_WS colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release -
Source the workspace:
source $COLCON_WS/install/setup.bash
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.