Quick Start

Welcome to MoveIt! In this section you will walk through the steps necessary to configure and use MoveIt! with the PR2 robot. This will help you learn how to use MoveIt! with your own robots.

The MoveIt! Setup Assistant


The Setup Assistant will help you configure your own robot with MoveIt!

The MoveIt! Rviz Plugins


The MoveIt! Rviz Plugins let you interact directly with a visualized, simulated or real robot.

MoveIt! and Gazebo


Learn how to use MoveIt! with a simulated model of the PR2 in Gazebo. You will learn how to configure MoveIt! to work with a specific set of controllers on a robot and with the sensors on the robot.

Command Line for MoveIt!
It is possible to plan and execute motions with a simple command line interface as well.

MoveIt! and the real robot
Finally, learn how to connect MoveIt! to a real PR2 robot.