Moving robots into the future

Incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation

Watch our montage Get Started
Robot hand
Latest: Melodic / Ubuntu 18.04
Install from debian
Version: 1.0.0
  • Motion planning

    Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums

  • Manipulation

    Analyze and interact with your environment with grasp generation

  • Inverse Kinematics

    Solve for joint positions for a given pose, even in over-actuated arms

  • Control

    Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces

  • 3D Perception

    Connect to depth sensors and point clouds with Octomaps

  • Collision Checking

    Avoid obstacles using geometric primitives, meshes, or point cloud data

Rviz Motion Planning Plugin

Out-of-the box visual demonstrations allow new users interactive experimentation with various planning algorithms around obstacles. Execution on physical hardware is then just a click away.

Rviz Motion Planning Plugin
Setup Assistant

MoveIt! Setup Assistant

Quickly setup any robot to work with MoveIt! with the step-by-step configuration wizard, or use popular pre-configured setups. Also includes configuration of Gazebo and ROS Control!

Python Scripting and Interpreter

Use high level Python scripts to orchestrate complex motion planning, leveraging high-performance C++ libraries in the background. Or use the C++ interfaces directly.

Python Scripting
Gazebo Simulation

Gazebo Simulation

Speed up development and testing cycles by leveraging a full physics-based simulator with MoveIt!. Combine Gazebo, ROS Control, and MoveIt! for a powerful robotics development platform.

Why MoveIt!?

MoveIt! is state of the art software for mobile manipulation, incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation. It provides an easy-to-use platform for developing advanced robotics applications, evaluating new robot designs and building integrated robotics products for industrial, commercial, R&D and other domains.

MoveIt! is the most widely used open-source software for manipulation and has been used on over 100 robots. See the Robots page for a list of some of the robots that MoveIt! is being used with.

Current and Future Versions

MoveIt 1.1 Noetic

March 2019

Initial Development 1 March 2019

API Freeze 1 February 2020

Official Release 1 March 2020

March 2020

MoveIt 2.0 Dashing

February 2019

Initial Development 1 February 2019

API Freeze 1 May 2019

Official 2.0 Release 1 June 2019

June 2019

MoveIt 2.0 Dashing

Partially Funded

Version: 2.0

Platforms: Ubuntu 18.04

Initial release: 1 June 2019

End of life: TBD

Release notes

PickNik is actively seeking funding for development of MoveIt for ROS 2.0. See roadmap.

MoveIt 1.1 Noetic

In Development

Version: 1.1

Platforms: Ubuntu 16.04, 18.04

Initial release: 1 March 2020

End of life: TBD

Release notes

This is the actively developed 'master' branch of MoveIt for ROS 1.0

Melodic LTS

Recommended

Version: 1.0

Platforms: Ubuntu 16.04, 17.10, 18.04

Initial release: 23 May 2018

End of life: May 2023

Release notes

This LTS builds on the latest version of ROS1 and can also build on Ubuntu 16.04. This LTS is stable and no API changes are accepted.

Kinetic LTS

Maintained

Version: 0.9

Platforms: Ubuntu 15.10, 16.04

Initial release: 23 May 2016

End of life: April 2021

Release notes

This LTS is stable and only bug fixes should be backported.

Indigo LTS

Maintained

Version: 0.7

Platforms: Ubuntu 14.04

Initial release: 22 July 2014

End of life: April 2019

Release notes

This LTS is nearing end of life and is discouraged for adoption.