Source Installation Instructions

Virtual Machines: MoveIt! is available on Linux. We recommend developing with MoveIt on a native Ubuntu install. If you are unable to run Linux natively on your machine, the next best thing would be to set up a virtual machine using VMware. There are known issues with the ROS visualization tool RViz when used with VirtualBox.

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 ~/ws_moveit
cd ~/ws_moveit

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 src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/indigo-devel/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro indigo
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 src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro kinetic
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.

Melodic

Note: Melodic support is still in beta

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

wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/melodic-devel/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro melodic
catkin config --extend /opt/ros/melodic --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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