MoveIt! is open source and released under the BSD License v3. Each individual file in the MoveIt! source code should contain a copy of the license.
Please use the following citation for MoveIt!
The MoveIt! project is currently maintained by the following contributors with commit-access:
|Dave Coleman||PickNik Consulting||davetcoleman|
|Robert Haschke||CITEC, Bielefeld University||rhaschke|
|Michael Görner||University of Hamburg||v4hn|
|Isaac IY Saito||Plus One Robotics||130s|
|Michael Ferguson||Fetch Robotics||mikeferguson|
|Ian McMahon||Rethink Robotics||IanTheEngineer|
|Gijs van der Hoorn||Delft Univ. of Tech / ROS-I||gavanderhoorn|
|Jorge Nicho||SwRI / ROS-I||jrgnicho|
|Maarten de Vries||Delft Robotics||de-vri-es|
|Bence Magyar||Heriot-Watt University||bmagyar|
|Mike Lautman||PickNik Consulting||mlautman|
We would like to acknowledge past maintainers of MoveIt! who have since moved on. Their great work made this project what it is today:
|Name||Past Organization||GitHub ID|
|Sachin Chitta||Kinema Systems||sachinchitta|
|Ioan Sucan||Google X||isucan|
|Dave Hershburger||Kinema Systems||hersh|
|Acorn Pooley||SRI International||N/A|
PickNik was founded with the mission of growing the MoveIt! project through community building and contract consulting.
Franka Emika sponsored a codesprint in 2018 to improve MoveIt!’s tutorials, documentation, and website. Learn more.
MoveIt!’s first commit was October 2011. MoveIt! was initially developed at Willow Garage by Sachin Chitta, Ioan Sucan, Gil E. Jones, Acorn Pooley, Suat Gedikli and Dave Hershberger and we thank Willow Garage for its support of the MoveIt! project. We would also like to thank SRI International for its support of the MoveIt! project between October 2013 and June 2015.
We gratefully acknowledges the contributions of the following people to MoveIt! and associated packages that MoveIt! uses (or has used at some point):
Lydia Kavraki, Mark Moll, and associated members of the Kavraki Lab (Rice University) for developing OMPL - a suite of randomized planners that MoveIt! uses extensively.
Dinesh Manocha and Jia Pan of UNC Chapel Hill for developing FCL - a package of collision checking algorithm used extensively by MoveIt!
Maxim Likhachev (CMU), Ben Cohen (Penn) and Mike Phillips (CMU) for developing SBPL, a search-based planning library integrated with MoveIt!
Armin Hornung, Kai Wurm, Maren Bennewitz, Cyril Stachniss, and Wolfram Burgard for developing Octomap - software for 3D occupancy mapping used by MoveIt!
Mrinal Kalakrishnan, Peter Pastor and Stefan Schaal at USC for developing STOMP, the distance field components in MoveIt! and the implementation of the CHOMP algorithm in Arm Navigation
Dave Coleman from the University of Colorado, Boulder for developing the MoveIt! Setup Assistant and adding documentation to the MoveIt! website.
Michael Ferguson for writing the simple controller manager plugin
Sachin Chitta and Praveen Singh for creating the current website
MoveIt! evolved from the Arm Navigation and Grasping Pipeline components of ROS and we gratefully acknowledge the seminal contributions of all developers and researchers to those packages, especially Edward Gil Jones, Matei Ciocarlie, Kaijen Hsiao, Adam Leeper, and Ken Anderson.
We also acknowledge the contributions of the Willow Garage interns who have worked on MoveIt!, Arm Navigation and associated components, members of the ROS and PR2 communities who have used, provided feedback and provided contributions to MoveIt! and Arm Navigation and members of the ROS community for developing the infrastructure that MoveIt! builds on.
We also acknowledge the contributions of the ROS-Industrial consortium led by the Southwest Research Institute for supporting and building up infrastructure for applying MoveIt! and Arm Navigation to industrial robots and environments. Similarly, we acknowledge the contributions of Fraunhofer IPA to MoveIt! and support for the ROS-Industrial effort in Europe.
We ask that you not:
The logo files are available under the Creative Commons Attribution 4.0 International license.
MoveIt! is now released into ROS Melodic LTS (Long Term Support)!
We are excited to announce that MoveIt! was selected for 3 Google Summer of Code (GSoC) grants for the summer of 2018.
In recent years there has been a migration related to ROS discussions, Q&A, and collaboration to ROS Discourse. Inspired by ROS-Industrial's migration this month away from Google Groups, and we believe its time for MoveIt! to migrate as well.
We are excited to announce that the robotic arm manufacturer Franka Emika is partnering with PickNik to sponsor a MoveIt! codesprint to further improve MoveIt!’s tutorials, documentation, and website.
Results from our second annual international hackathon to improve the MoveIt! code base, documentation, and community.