Source Installation Instructions

Virtual Machines: There have been many reports of problems with the ROS visualization tool RViz when used in virtual machines. We therefore discourage the use of virtual machines with MoveIt! unless you are not interested in visualization support.

Prerequisites

Install ROS Indigo, Kinetic, or Lunar. Please make sure you have followed all steps and have the latest versions of packages installed:

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade

Source installation requires wstool, catkin_tools, and optionally clang-format:

sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

Optionally create a new workspace, you can name it whatever:

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src

Follow the instructions below for either Indigo, Kinetic, or Lunar:

Indigo

Pull down required repositories and build from within the /src directory of your catkin workspace:

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/indigo-devel/moveit.rosinstall
wstool update
rosdep install -y --from-paths . --ignore-src --rosdistro indigo
cd ..
catkin config --extend /opt/ros/indigo --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

See final section below Source The Catkin Workspace. Optionally for MongoDB, OMPL, or FCL source installs, see Building Common MoveIt! Dependencies from Source in Catkin.

Kinetic

Pull down required repositories and build from within the /src directory of your catkin workspace:

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
cd ..
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

See final section below Source The Catkin Workspace. Optionally for MongoDB, OMPL, or FCL source installs, see Building Common MoveIt! Dependencies from Source in Catkin.

Lunar

Note: Lunar support is still in beta. Additionally, it is currently the same code base as the kinetic-devel branch, our recommended distro

Pull down required repositories and build from within the /src directory of your catkin workspace:

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install -y --from-paths . --ignore-src --rosdistro lunar
cd ..
catkin config --extend /opt/ros/lunar --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

See final section below Source The Catkin Workspace. Optionally for MongoDB, OMPL, or FCL source installs, see Building Common MoveIt! Dependencies from Source in Catkin.

Source the Catkin Workspace

Setup your environment - you can do this every time you work with this particular source install of the code, or you can add this to your .bashrc:

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

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