Install


MoveIt! is currently developed and works against Ubuntu and ROS Hydro and Indigo. It is recommended that you move to ROS Indigo for the latest features. MoveIt! for ROS Groovy is no longer actively supported.

Note for Ubuntu 13.4 32 bit users: There is a bug with GCC 4.7 on Ubuntu 13.4 32bit with Eigen 3.1.2. It’s not likely to be fixed, so upgrade/downgrade your system to 13.4 64 bit resp. 12.4.

If you are a developer: please scroll down for instructions on installing from source. Most users should be able to use just the binary instructions.


Binary Installation Instructions (for users)

STEP 0: Install ROS

Follow all the instructions to install the base version of ROS: Install ROS-Base. Please make sure you have followed all the ROS installation steps, including calls to rosdep.

MoveIt! can be installed directly as a set of debian packages on Ubuntu. To get a complete installation, choose your ROS distribution below:

ROS Hydro

ROS Hydro Installation Instructions

STEP 1: Ubuntu Installation: Debian Packages for MoveIt!

sudo apt-get install ros-hydro-moveit-full

STEP 2: Debian Packages for MoveIt! with the PR2

If you would like to use MoveIt! with the PR2 with ROS Hydro (recommended if you are following the tutorials on the MoveIt! wiki):

sudo apt-get install ros-hydro-moveit-full-pr2

STEP 3: Setup your environment

source /opt/ros/hydro/setup.bash

 

ROS Indigo

ROS Indigo Installation Instructions

STEP 1: Ubuntu Installation: Debian Packages for MoveIt!

sudo apt-get install ros-indigo-moveit-ros

STEP 2: Debian Packages for MoveIt! with the PR2

These are not yet fully available for the PR2.

STEP 3: Setup your environment

source /opt/ros/indigo/setup.bash


Source Installation Instructions (for developers)

STEP 0: Install ROS

Follow all the instructions to install the base version of ROS: Install ROS-Base. Please make sure you have followed all the ROS installation steps, including calls to rosdep.

STEP 1: Get the wstool package

sudo apt-get install python-wstool

Now follow the steps for your particular ROS version.

STEP 2 & 3: ROS Hydro

ROS Hydro Instructions

STEP 2: Download the source code

source /opt/ros/hydro/setup.bash
mkdir moveit
cd moveit
mkdir src
cd src/
wstool init .
wstool merge https://raw.github.com/ros-planning/moveit_docs/hydro-devel/moveit.rosinstall
wstool update
cd ..

STEP 3: Make sure MoveIt! dependencies are installed

rosdep install --from-paths src --ignore-src --rosdistro hydro -y

STEP 2 & 3: ROS Indigo

ROS Indigo Instructions

STEP 2: Download the source code

source /opt/ros/indigo/setup.bash
mkdir moveit
cd moveit
mkdir src
cd src/
wstool init .
wstool merge https://raw.github.com/ros-planning/moveit_docs/indigo-devel/moveit.rosinstall
wstool update
cd ..

STEP 3: Make sure MoveIt! dependencies are installed

rosdep install --from-paths src --ignore-src --rosdistro indigo -y

STEP 4: Build MoveIt!

Assuming you are in the moveit folder created above,

catkin_make

STEP 5: Setup your environment

You will have to do this every time you work with this particular source install of the code. Assuming you are in the moveit folder created above,

source devel/setup.bash
# or .zsh, depending on your shell