Moving robots into the future

Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.

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Robot hand
Latest: MoveIt 2 Foxy / Ubuntu 20.04
Build MoveIt 2 from Source
Version: 2.1.0
  • 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

Companies Using MoveIt

Nasa logo Google logo Microsoft logo
Fetch robotics logo Franka Emika logo
Pal Robotics logo RTR logo Kinova logo

3D Interactive Visualizer

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

Rviz Motion Planning Plugin
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.

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!

Setup Assistant
MoveIt Task Constructor

Task Constructor

A flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks!

Grasp Generation

A basic grasp generator for objects such as blocks or cylinders for use with the MoveIt pick and place pipeline!

MoveIt Grasps
Python Scripting

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.

Why MoveIt?

MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use.

By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

MoveIt 2.2 Galactic Geochelone

September 2020

Initial Development 14 September 2020

Feature Freeze 30 May 2021

Official Release 30 June 2021

June 2021

Galactic 2.2

In Development

Version: 2.2

Platforms: TBD

Initial release: June 2021

End of life: TBD

Branch: moveit2:main

Release notes

PickNik is actively seeking funding for development of MoveIt for ROS 2. See roadmap.

Foxy 2.1 LTS

Recommended

Version: 2.1

Platforms: Ubuntu 20.04

Initial release: 4 September 2020

End of life: May 2023

Branch: moveit2:main

Release notes

First non-Beta release of MoveIt 2!

Noetic 1.1 LTS

Maintained

Version: 1.1

Platforms: Ubuntu 20.04

Initial release: 15 September 2020

End of life: May 2025

Branch: moveit:master

Release notes

This is the actively developed 'master' branch of MoveIt for ROS 1.0, and will be the last version of MoveIt for ROS 1.0

Eloquent 2.0 Beta

Maintained

Version: 2.0

Platforms: Ubuntu 18.04

Initial release: 14 February 2020

End of life: November 2020

Branch: moveit2:eloquent

Release notes

The first official release of MoveIt 2!

Melodic 1.0 LTS

Maintained

Version: 1.0

Platforms: Ubuntu 16.04, 17.10, 18.04

Initial release: 23 May 2018

End of life: May 2023

Branch: moveit:melodic-devel

Release notes

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

Kinetic 0.9 LTS

Maintained

Version: 0.9

Platforms: Ubuntu 15.10, 16.04

Initial release: 23 May 2016

End of life: April 2021

Branch: moveit:kinetic-devel

Release notes

This LTS relesae is stable and development has ended.