Source Code

MoveIt! code is hosted on github in the ros-planning organization in the following repos:

  • moveit - Main repo of MoveIt!, contains the following packages:
    • moveit - Metapackage
    • moveit_core - Core functionality including RobotModel, RobotState, collision checking
    • moveit_ros_planning - planning components, execution manager, plugin loaders
    • moveit_ros_move_group - The move_group main node for using MoveIt! via ROS messages
    • moveit_ros_planning_interface - Python and ROS msg interfaces to communicate with move_group
    • moveit_ros_perception - Octomap and other perception plugins
    • moveit_ros_manipulation - High level pick and place pipeline
    • moveit_ros_robot_interaction - Interative marker tools for Rviz
    • moveit_ros_visualization - Rviz tools
    • moveit_ros_warehouse - Database plugins for storing scene and configuration data
    • moveit_ros_benchmarks - Benchmarking using PlannerArena
    • moveit_ros - Metapackage
    • moveit_planners - Metapackage
    • moveit_planners_ompl - Open Motion Planning Library plugin
    • moveit_commander - terminal-based control interface using Python-like syntax
    • moveit_setup_assistant - GUI for quickly setting up MoveIt!
    • moveit_plugins - plugins for controller managers
    • chomp_motion_planner - Gradient Optimization Techniques for Efficient Motion Planning
    • chomp_interface - adapter for using CHOMP with MoveIt!
  • moveit_msgs - ROS messages
  • moveit_robots - Robot specific MoveIt! configuration packages
  • moveit_resources - large file assets such as testing robots
  • moveit_visual_tools - display and debugging data in Rviz
  • moveit_advanced - Experimental advanced capabilities
  • moveit_pr2 - PR2 specific MoveIt! configuration and plugins
  • rqt_moveit - Plugin for the GUI framework of ROS, RQT
  • srdfdom - Semantic Robot Description Format
  • warehouse_ros - Abstract interface for persisting ROS message data
  • random_numbers - package for generating random numbers

For completeness, the following two repos are where documentation can be found:

In addition, the following repos exist for testing:

Code Health

We use Travis continous integration combined with the moveit_ci for testing pull requests and overall code health. Travis status badges should be visible on the of every MoveIt! repository.

To see an overview of the activity for MoveIt! check our Open HUB Project Summary.