Moving robots into the future

Incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation

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Robot hand
Latest: Melodic / Ubuntu 18.04
Install from debian
Version: 0.10.0
  • Motion planning

    Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums

  • Manipulation

    Analyze and interact with your environment with grasp generation

  • Inverse Kinematics

    Solve for joint positions for a given pose, even in over-actuated arms

  • Control

    Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces

  • 3D Perception

    Connect to depth sensors and point clouds with Octomaps

  • Collision Checking

    Avoid obstacles using geometric primitives, meshes, or point cloud data

Rviz Motion Planning Plugin

Out-of-the box visual demonstrations allow new users interactive experimentation with various planning algorithms around obstacles. Execution on physical hardware is then just a click away.

Rviz Motion Planning Plugin
Setup Assistant

MoveIt! Setup Assistant

Quickly setup any robot to work with MoveIt! with the step-by-step configuration wizard, or use popular pre-configured setups. Also includes configuration of Gazebo and ROS Control!

Python Scripting and Interpreter

Use high level Python scripts to orchestrate complex motion planning, leveraging high-performance C++ libraries in the background. Or use the C++ interfaces directly.

Python Scripting
Gazebo Simulation

Gazebo Simulation

Speed up development and testing cycles by leveraging a full physics-based simulator with MoveIt!. Combine Gazebo, ROS Control, and MoveIt! for a powerful robotics development platform.

Why MoveIt!?

MoveIt! is state of the art software for mobile manipulation, incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation. It provides an easy-to-use platform for developing advanced robotics applications, evaluating new robot designs and building integrated robotics products for industrial, commercial, R&D and other domains.

MoveIt! is the most widely used open-source software for manipulation and has been used on over 100 robots. See the Robots page for a list of some of the robots that MoveIt! is being used with.

Current and Future Versions

Melodic LTS

23 May 2018

Development 23 May 2018

Feature freeze April 2019

Code freeze May 2019

23 May 2019

MoveIt! 2.0

Seeking Funding

Platforms: Ubuntu 18.04

Date released: TBD

End of life: TBD

Release notes

PickNik is actively seeking funding for development of this critical component to the ROS2 ecosystem.

Melodic LTS

In Development

Platforms: Ubuntu 17.10, 18.04

Date released: 23 May 2018

End of life: May 2023

Release notes

This LTS builds on the latest version of ROS1 but has had less adoption because it does not run on Ubuntu 16.04. Breaking API changes are accepted.

Kinetic LTS

Recommended

Platforms: Ubuntu 15.10, 16.04

Date released: 23 May 2016

End of life: TBD

Release notes

This LTS is still actively being improved as its the most popular version amoung the maintainers. The API should be stable, but not ABI.

Indigo

Maintained

Platforms: Ubuntu 14.04

Date released: 22 July 2014

End of life: April 2019

Release notes

This LTS is still still used by some users but only critical bug fixes are accepted. The API is stable.

Lunar

Discontinued

Platforms: Ubuntu 16.04, 16.10, 17.04

Date released: 23 May 2017

End of life: 23 May 2018

Release notes

This non-LTS was released as debians until ROS Melodic was released. We no longer release updates for the Lunar distro.

Jade

Discontinued

Platforms: Ubuntu 14.04, 14.10, 15.04

Date released: 23 May 2015

End of life: 23 May 2016

Release notes

This non-LTS was released as debians until ROS Kinetic was released. We no longer release updates for the Jade distro.