In this section, we will run through some of the basic concepts underlying the MoveIt! system architecture, interfaces and usage.

Plugin Interfaces

MoveIt! provides many interfaces so that users can override different parts of the framework and implement new concepts without having to touch the core of the framework. This section lists the different types of plugins and provides an overview of how to use them within the framework.


A set of beginner and advanced tutorials will run you through the key concepts in developing and running MoveIt!


FAQs answer frequently asked questions about MoveIt!, about the system architecture, getting MoveIt! to work on different robots and about the capabilities and applications provided by MoveIt!

Code API

Doxygen generated API documentation.