Moving robots into the future
Incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation
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Motion planning
Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums
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Manipulation
Analyze and interact with your environment with grasp generation
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Inverse Kinematics
Solve for joint positions for a given pose, even in over-actuated arms
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Control
Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces
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3D Perception
Connect to depth sensors and point clouds with Octomaps
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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.
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.
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.